In Isaac Sim 4.5, extensions in Isaac Sim have been renamed. In most
cases, the `omni.isaac.*` naming convention has been replaced by
`isaacsim.*`. View classes in Isaac Sim are also renamed: e.g.
`XFormPrimView` --> `XFormPrim`, and `XFormPrim` --> `SingleXFormPrim`.
This PR updates Isaac Lab files that imports Isaac Sim extensions to
follow the new naming of Isaac Sim modules.

This will be a breaking change that breaks backwards compatibility with
previous Isaac Sim versions.

- 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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- [x] 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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extension's `config/extension.toml` file
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.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: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description

Adds new denoiser optimization flags for rendering to the rendering app
files. These settings will turn off denoising by default, which helps
improve performance when rendering.

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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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>
Co-authored-by: peterd-NV <peterd@nvidia.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: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description
Updates torch to 2.5.1

This change fixes various issues with the unit tests due to updates in
Isaac Sim and Kit builds. Notably, some extensions were renamed for the
URDF and MJCF importers, including minor modifications of available
parameters for the importers. The SimulationContext context will also
now terminate the process on exit due to the simulation stop callback
being triggered. We now bypass the callback for the unit tests.

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

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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

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This change applies a new `create_new_stage` setting in Isaac Sim's
SimulationApp to avoid creating a default new stage on startup, which
introduces additional performance overhead.
Also fixes an error in hydra code when rebasing.

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

- [ ] 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

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

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Update robomimic training and play scripts.

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discussions on the proposed pull request.
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---------
Signed-off-by: peterd-NV <peterd@nvidia.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>

- Added the SE3_HandTracking input device which allows for XR teleop via
the SE3 interface.
- Updated the teleop_se3_agent to support hand tracking via the
`--teleop_device handtracking` flag
- Created a new .kit file `isaaclab.python.xr.openxr.kit` for supporting
teleop experiances

- 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

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

# Description

Updates the benchmark scripts with new additional output format that can
be used for tracking results on a dashboard.

## Checklist

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`./isaaclab.sh --format`
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- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

Fixes errors related to import of omni.isaac.ui and debug_draw
extensions due to Isaac Sim 4.5 renaming/restructuring.

## Type of change

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applicable. -->

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

## Checklist

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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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Update the Franka Stacking Env to align with Robosuite stacking task
used in MimicGen.

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`./isaaclab.sh --format`
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

This change updates the benchmarking utilities to follow new module
naming for Isaac Sim 4.5. In addition, hydra support is added for the
benchmark scripts to allow modifications of config parameters via
command line. Hydra config parsing utilities are updated to allow for
missing agent configurations when benchmarking non-RL workflows.

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applicable. -->

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
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- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

This PR fix the `ModuleNotFoundError: No module named
'omni.isaac.version'` for Isaac Sim 4.5

When running `./isaaclab.sh -p
source/standalone/workflows/rsl_rl/train.py --task
Isaac-Cartpole-Direct-v0 --headless --max_iteration 5`

```
Traceback (most recent call last):
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 54, in <module>
    from omni.isaac.lab.envs import (
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py", line 45, in <module>
    from . import mdp, ui
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py", line 18, in <module>
    from .actions import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py", line 8, in <module>
    from .actions_cfg import *
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py", line 9, in <module>
    from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py", line 13, in <module>
    from .action_manager import ActionManager, ActionTerm
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py", line 20, in <module>
    from omni.isaac.lab.assets import AssetBase
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py", line 41, in <module>
    from .articulation import Articulation, ArticulationCfg, ArticulationData
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py", line 8, in <module>
    from .articulation import Articulation
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 22, in <module>
    import omni.isaac.lab.sim as sim_utils
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py", line 29, in <module>
    from .converters import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py", line 25, in <module>
    from .urdf_converter import UrdfConverter
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py", line 13, in <module>
    from omni.isaac.version import get_version
ModuleNotFoundError: No module named 'omni.isaac.version'

```
## 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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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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Adds the deprecated extension folder to the app files for the extensions
to be discoverable.

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

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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

Adding a manager based RL env for Franka cube stacking task. This
environment will be used for initial testing of MimicGen pipeline. The
environment consists of a Franka arm with three blocks on a table top.

Environment source is added to
`omni/isaac/lab_tasks/manager_based/manipulation/stack`

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>

# Description

Previously on episodic resets, the "time left" for the interval events
were not getting resampled. This means that if the user expects the
event to happen in the range 6-8s of an episode, it could be that in a
new episode, the push happens at a time outside this range as the time
left variable keeps its old value.

This MR fixes this issue by resampling the time left inside the
manager's reset call.

Note: This only matters for the case when "is_global_time" is False
(which is the default). The reason is that when there is global time,
the events are triggered through simulation time and not episode time.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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- [ ] 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 PR cleans up the Ray documentation to be more clear, and fixes some
small issues in the code.

- Moved local set up to be an easier Docker-based thing
- Added Wget to docker container to fix issue where Ray head would fail
health check on GKE where the workers wouldn't start
- Removed redundant information from Documentation
- Added a local quickstart
- (investigated whether https mlflow was possible, added flag to jinja
env)@kellyguo11
- Added better compatibility with other workflows to address #1703 
- Avoided early exit due to buffer overflow to address #1703 (thank you
@giulioturrisi for helping find this)
<!-- As a practice, it is recommended to open an issue to have
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## Type of change

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applicable. -->

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


![image](https://github.com/user-attachments/assets/eb38b3c8-8e9c-438d-9218-8b0662146f96)


## Checklist

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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: Gary Lvov <glvov@theaiinstitute.com>

# Description

Corrected calculation of target height adjustment based on sensor data.

Fixes #1546 and #1698

Thanks to @ClemensSchwarke and @shendredm for the modification
suggestions. To use this `base_height_l2` reward function, users need to
make the following changes:

1. Customize a new sensor

```python
class MySceneCfg(InteractiveSceneCfg):
    height_scanner_base = RayCasterCfg(
        prim_path="{ENV_REGEX_NS}/Robot/base",
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
        attach_yaw_only=True,
        pattern_cfg=patterns.GridPatternCfg(resolution=0.05, size=(0.1, 0.1)),
        debug_vis=False,
        mesh_prim_paths=["/World/ground"],
    )
```

2. Pass this new sensor to the reward function

```python
class RewardsCfg:
    base_height_l2 = RewTerm(
        func=mdp.base_height_l2,
        weight=0.0,
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=""),
            "sensor_cfg": SceneEntityCfg("height_scanner_base"),
            "target_height": 0.0,
        },
    )
```

This will create a 10 by 10 cm patch consisting of 9 rays and should
provide a good estimate of the ground height at the robot's position.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

…ection root and base states

# Description

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This PR removes the deprecation of root_state_w setters and properties
due to significant regression in training speed. It leaves it the
root_link_* and root_com_* properties and setters but does not force
them on examples and tests.

Fixes #1699 

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## 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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`./isaaclab.sh --format`
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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Currently, the
[`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721)
function attempts to respawn all *N* required objects if even a single
object lies within the central platform. However, the probability of
successfully spawning *all objects* outside the central platform depends
on the object density (i.e., the number of required objects relative to
the terrain size) and the size of the central platform. For high object
densities, this probability quickly approaches zero, causing the
function to enter an infinite respawn loop.

This PR addresses the issue by respawning only the objects that lie
within the central platform during each loop, while leaving objects
outside the platform untouched. This leads to faster terrain generation
and prevents the worst-case scenario of getting stuck in an infinite
respawn loop when object density is high.

## 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: Nicola Loi <nicolaloi@outlook.com>

# Description

Adds a new documentation page and demo script for explaining the IMU
sensor.
Also replace previous .png images with .jpg files for better storage
efficiency.

## 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
- [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: Michael Gussert <michael@gussert.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

This change replaces some of the hardcoded python snippets in the sensor
documentation to reference directly from the demo scripts. This avoids
inconsistencies when changes in the scripts or documentations are made.


## 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
- [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
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# Description
The rigid body data properties root_com_vel_w, root_com_pos_w, and
root_com_ang_vel_w currently check the private state field's timestamp
before updating their state. However, the issue lies in the fact that
these COM state properties are incorrectly checking the link state
field's timestamp instead of the COM's own state.

Fixes # (issue)
Replacing root link state with root com state at these properties.

## 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

This PR fixes a small typo in the code, where "undesired" is
accidentally typed as "undersired".

## Type of change

- [x] 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

## Screenshots

N/A

## 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

A few scripts in the tools and tutorials folder had outdated APIs that
caused errors when run.
This scripts fixes issues with 2 scripts:

- check_instanceable.py used an old `enable_flatcache` API that no
longer exists. this has been replaced with the new `enable_fabric` API
- run_usd_camera.py was indexing camera data outputs with incorrect
keys/indices, which is now fixed

## 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
- [ ] 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 fixes an issue in articulation object from omni.isaac.lab. The
functions `write_root_com_pose_to_sim` and `write_root_link_to_sim` both
result in an error where a variable is called before being assigned. I
checked and there is a test for this, but I'm not sure why they don't
catch it...

The two functions have been changed to match the behaviors of
`write_root_link_pose_to_sim` and `write_root_com_velocity_to_sim`.



Fixes #1659 

## 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

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

# Description

There was a mismatch in the implementation of the IdealPDActuator code
and the equation provided in the actuators docs. This change fixes the
ordering of parameters in the docs to match the implementation in code.

Fixes #1643 

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

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# Description

Fixes docstring in Articulation data, where rigid body properties should
be of dimension (num_instances, num_bodies, x) instead of
(num_instances, 1, x).

Fixes #1651

<!-- 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

docstring fix.

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

**Before Change**

for the data
'''
body_link_pos_w
body_link_quat_w
body_link_vel_w
body_link_lin_vel_w
body_link_ang_vel_w
body_com_pos_w
body_com_quat_w
body_com_vel_w
body_com_lin_vel_w
body_com_ang_vel_w
'''

The actual dimension are (num_instances, num_bodies, x),

 but the docstring says (num_instances, 1, x)

**After Change**

docstring says (num_instances, num_bodies, x)


## Checklist

- [ ] 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: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

<!--
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to check the contribution guidelines.

Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
-->

A recent PR
(https://github.com/isaac-sim/IsaacLab/pull/1530#issuecomment-2558120594)
causes issues with joint_parameter_lookup attributes of Articulation
Configs. The `class_to_dict` utility function needs to return a
primitive dict. Returning a torch.Tensor conflicts with OmegaConf.

This PR adds a unittest for the dict conversion as requested by @lgulich
so that the issue can be fixed. The test case fails on main branch as
expected according to my understanding. Passes on v1.3.0.

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
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## Type of change

<!-- 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)

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## 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

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# Description

Currently, the
[PreTrainedPolicyAction](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/navigation/mdp/pre_trained_policy_action.py#L24)
class does not reset the actions in the low-level observations when a
new episode starts.

In my custom legged robot navigation task, the behavior was correct only
during the first training episode but failed from the second episode
onward. At the start of a new episode, the action observations are not
reset and retain the last actions from the previous episode. This can
impact training, as in my case, where the actions at the end of an
episode differ significantly from those required at the beginning of an
episode.

This PR resolves the issue by resetting the low-level action
observations at the beginning of each new episode.


## 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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# Description

- As a first time user, I skipped over the sim part at first because I
wanted lab - clarify that sim is required.
- Rename anchors from sim to lab.
- Move the notes about miniconda to where conda is actually used.
- Clarify that there are two options for installation. Otherwise, a user
progressing in order will run the full installation, and then discover
that a minimal installation would have been an option.
- Use separate attention boxes for the two separate items.

Note: I was able to follow the pip instructions on Ubuntu24 with a
minimal hack to force python3.10 instead of the default 3.12. I have not
tried the binary installation instructions.

## Type of change

Documentation only.

## Checklist

I have built the documentation locally.

- [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 - _n/a_
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file - _Does not affect an
extension._
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

Bug description: When I run `python
source/standalone/workflows/rsl_rl/train.py --task
Isaac-Velocity-Flat-Spot-v0 --headless`

```bash
(isaaclab) ubuntu@ubuntu-4090:~/workspaces/IsaacLab$ python source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Flat-Spot-v0 --headless
[INFO][AppLauncher]: Loading experience file: /home/ubuntu/workspaces/IsaacLab/source/apps/isaaclab.python.headless.kit
[Warning] [omni.isaac.kit.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
[Warning] [omni.isaac.kit.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
Loading user config located at: '/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim/4.2/kit_20250104_162107.log
2025-01-04 08:21:07 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.

|---------------------------------------------------------------------------------------------|
| Driver Version: 550.100       | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA GeForce RTX 4090          | Yes: 0 |     | 24564   MB | 10de      | 0          |
|     |                                  |        |     |            | 2684      | 16760a40.. |
|     |                                  |        |     |            | 1         |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-126-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-14900KF | Cores: 24 | Logical: 32
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 64106 | Free Memory: 39407
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2046
|---------------------------------------------------------------------------------------------|
[INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.flat_env_cfg:SpotFlatEnvCfg
[INFO]: Parsing configuration from: omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.spot.agents.rsl_rl_ppo_cfg:SpotFlatPPORunnerCfg
Traceback (most recent call last):
  File "/home/ubuntu/workspaces/IsaacLab/source/standalone/workflows/rsl_rl/train.py", line 151, in <module>
    main()
  File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 79, in wrapper
    env_cfg, agent_cfg = register_task_to_hydra(task_name, agent_cfg_entry_point)
  File "/home/ubuntu/workspaces/IsaacLab/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 57, in register_task_to_hydra
    ConfigStore.instance().store(name=task_name, node=cfg_dict)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/hydra/core/config_store.py", line 85, in store
    cfg = OmegaConf.structured(node)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 125, in structured
    return OmegaConf.create(obj, parent, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 178, in create
    return OmegaConf._create_impl(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 900, in _create_impl
    format_and_raise(node=None, key=None, value=None, msg=str(e), cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 861, in _create_impl
    return DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1004, in _node_wrap
    node = DictConfig(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 111, in __init__
    format_and_raise(node=None, key=key, value=None, cause=ex, msg=str(ex))
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 109, in __init__
    self._set_value(content, flags=flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 647, in _set_value
    raise e
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 644, in _set_value
    self._set_value_impl(value, flags)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 690, in _set_value_impl
    self.__setitem__(k, v)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 314, in __setitem__
    self._format_and_raise(key=key, value=value, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 819, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 308, in __setitem__
    self.__set_impl(key=key, value=value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/dictconfig.py", line 318, in __set_impl
    self._set_item_impl(key, value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 620, in _set_item_impl
    self._wrap_value_and_set(key, value, target_type_hint)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 636, in _wrap_value_and_set
    self._format_and_raise(key=key, value=val, cause=e)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/base.py", line 231, in _format_and_raise
    format_and_raise(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 899, in format_and_raise
    _raise(ex, cause)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/_utils.py", line 797, in _raise
    raise ex.with_traceback(sys.exc_info()[2])  # set env var OC_CAUSE=1 for full trace
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/basecontainer.py", line 628, in _wrap_value_and_set
    wrapped = _maybe_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1105, in _maybe_wrap
    return _node_wrap(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/omegaconf.py", line 1045, in _node_wrap
    node = AnyNode(value=value, key=key, parent=parent)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 135, in __init__
    super().__init__(
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 29, in __init__
    self._set_value(value)  # lgtm [py/init-calls-subclass]
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 46, in _set_value
    self._val = self.validate_and_convert(value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 76, in validate_and_convert
    return self._validate_and_convert_impl(value)
  File "/home/ubuntu/anaconda3/envs/isaaclab/lib/python3.10/site-packages/omegaconf/nodes.py", line 154, in _validate_and_convert_impl
    raise UnsupportedValueType(
omegaconf.errors.UnsupportedValueType: Value 'Tensor' is not a supported primitive type
    full_key: env.scene.robot.actuators.spot_knee.joint_parameter_lookup
    object_type=dict
```

## 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`
- [ ] 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

This change updates the version of scripts to 1.4.0 following the 1.4
release a couple of weeks ago.

# Description

Resolves Issue #1534 by adding non-root body tracking as an option in
the ViewerCfg. See the issue for justification/discussion. API as
follows:

- Adds origin_type "asset_body"
- Adds field "body_name"

When origin_type = "asset_body" and "body_name" matches a body in the
asset specified in "asset_name", the viewport is configured to track the
link frame of the body in world coordinates. By using the existing eye
and lookat fields in ViewerCfg the additional features are enabled:

- Tracking the end effector of an arm during manipulation (see below)
- Tracking a fixed offset from the end effector of an arm (e.g.
mimicking the view of a wrist-mounted camera)
- Tracking a mobile base using the currently-supported workaround for
lack of wheel physics by defining a virtual arm to mimic the motion of
the robot

## Type of change

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

## Training Video from "Isaac-Lift-Cube-Franka-v0" after 1000
iterations.

Viewer defined as follows:

viewer = ViewerCfg(eye=(0.5, 0.5, 0.0), origin_type="asset_body",
env_index=0, asset_name="robot", body_name="panda_hand")

No other changes were made from the default environment definition.


https://github.com/user-attachments/assets/fff24b50-c9d0-48dd-b4c2-3641a11f0d4d

## Checklist

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

---------
Signed-off-by: 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>

# Description

Fixing bug so that using training workflow on MARL workflow populates
videos/train.
See #1595

## Type of change
- Bug fix (non-breaking change which fixes an issue)
## Screenshots

![before_and_after](https://github.com/user-attachments/assets/5b662a88-dedd-4220-a0c4-8e7d09ceb51f)
The first run was without the changes where we see videos/train empty.
The second run is after the changes with videos/train successfully
populated.

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [N/A] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [Sort of] I have added tests that prove my fix is effective or that my
feature works; I have verified that it works on train.py for skrl and
rl_games. I have not verified rsl_rl or sb3 as well have not verified
play.py on any of the four. However I have implemented the changes on
all of them as they all seem to follow the exact same structure.
- [ ] 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; Unsure if this fix is worth being labelled as a
contributor, if so would be happy to be added to the contributors.md
(full name is Rishi Veerapaneni).

Fixes error in Articulation where default_joint_stiffness and default_joint_damping is not correctly set if actuator is instance of ImplicitActuator (#1580)

# Description

Before the fix, the field, default_joint_stiffness, and
default_joint_damping in omni.isaac.lab.assets.Articulation will be
the default value configured Joint Drive property in usd file, and
defining a new value with actuator config will not have effect
if the actuator is type ImplicitActuator

after the fix, all actuator types will be able to override
default_joint_stiffness and default_joint_damping

Fixes #1552 

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## Type of change

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applicable. -->

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

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## 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 <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Previously, the event term set the current root velocity to the sampled
values. However, this isn't the same as "pushing" the root. This MR
fixes this issue by changing the operation inside.

## 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

# Description

Adds a missing word in an error message.
Also fixes a broken link in the pull request template.

(I did not enter an issue since it seems like a tiny change, but will if
you'd like me to.)

## 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 - _I don't
think any are necessary._
- [ ] My changes generate no new warnings - _I doubt it, but I have not
been able to install everything, I discovered this issue on my first
attempt to build._
- [ ] I have added tests that prove my fix is effective or that my
feature works - _Not a feature._
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file - _Not sure which file that is
in this case, please let me know if this is applicable._
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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

# Description

Updates all copyright notices to 2025. This should make pre-commit
checks happy. My local system is still in 2024, but apparently github is
in 2025. Happy New Year!

(I did not enter an issue, but happy to do so if you like me to.)

## 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 - _I don't
think it's needed._
- [x] My changes generate no new warnings - _As far as I can tell._
- [ ] I have added tests that prove my fix is effective or that my
feature works - _Not a feature._
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file - _n/a?_
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR fixes #1586.

An additional condition is added to the `JointAction._joint_ids` logic
where if user specifies to preserve the joint order, the `_joint_ids`
field will not be cleared even if the speficied list contains all the
joints.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Signed-off-by: -T.K.- <t_k_233@outlook.com>