# Description

This adds an observation term to be able to easily extract features from
the images, and adds a cartpole example of using this new term.

The new ResNet18 cartpole converges in less than 100 epochs.

## Type of change

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

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

## Checklist
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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

I will update the version in the changelog and extension.toml after
approval prior to merging in due to it causing merge conflicts when main
updates

---------
Signed-off-by: glvov-bdai <glvov@theaiinstitute.com>
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>

# Description

* Fixes a bug in RayCasterCamera's print function that was accessing
`RayCaster.meshes` instead of `self.meshes`
* Fixes a bug in BaseEnvWindow that was trying to access attributes from
undefined configs when building UI elements for action and command terms


## Type of change

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

## Checklist

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

# Description
Two changes are made to fix _[Bug Report] sb3_ppo_cfg.yaml not work for
Isaac-Lift-Cube-Franka-v0 #1248_:

1. Add `sb3_cfg_entry_point` to
`source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/manager_based/manipulation/lift/config/franka/init.py`
2. Change `net_arch=[32, 32, dict(pi=[256, 128, 64], vf=[256, 128,
64])]` to `net_arch=dict(pi=[256, 128, 64], vf=[256, 128, 64])` in line
19 of `sb3_ppo_cfg.yaml`.


Fixes #1248

## Type of change

- 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`
- [x] My changes generate no new warnings

# Description

Adds missing typehint in reward function

## 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

Fixed issues with defining Gymnasium spaces in Direct workflows due to
Hydra/OmegaConf limitations with non-primitive types (see
https://github.com/isaac-sim/IsaacLab/discussions/1264#discussioncomment-11045011)

```
omegaconf.errors.UnsupportedValueType: Value 'XXXXX' is not a supported primitive type
```


## 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
- [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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

This update addresses a minor inconsistency found in the Isaac Lab
installation documentation for Windows.

While following the installation instructions on Isaac Lab for "Option
2: Installation using Isaac Sim binaries" on Windows, I encountered the
following lines:

> `C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac_sim-*`, with `*`
corresponding to the Isaac Sim version.

> `set
ISAACSIM_PATH="C:\Users\%USERPROFILE%\AppData\Local\ov\pkg\isaac-sim-4.2.0"`

This seemed redundant, as `%USERPROFILE%` already refers to the path
`C:\Users\name_of_user`.

I have compiled and verified the documentation changes to ensure proper
display. Additionally, I tested this update on a Windows system,
confirming that it works as intended.

## 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

# Description

This PR add in the ability to properly convert configclass to dict if a
configclass instance contains a list of configclasses.

Fixes #1219 

## Type of change

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

## Checklist

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

# Description

The path to check if the first passed argument is a container profile
included the wrong path. This PR fixes the path.

## Type of change

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

## Checklist

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

# Description

This change adds the option to pass command line arguments directly to
OV kit. This avoids the need of having to modify the app files to change
settings for OV.


## Type of change

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

## Checklist

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

# Description

This change adds a render config to the simulation context and
highlights current limitations and workarounds for issues with the
TiledCamera class.

## 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

# Description

Fixes the broken URLs in README.md and CONTRIBUTING.md

## Type of change

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

## Screenshots

Not applicable for this change

## Checklist

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

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

# Description

Added a mechanism to check for the validity of a configclass object.
A configclass object is valid if it contains no MISSING attributes.

## Type of change

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

## Checklist

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

# Description

Since I wanted to use Isaac Lab for training a Unitree Go2, I played
around with the examples to get used to the framework. While playing
around, I got the following error message:

```
reward = torch.sum(body_vel.norm(dim=-1) * contacts, dim=1)
RuntimeError: The size of tensor a (19) must match the size of tensor b (4) at non-singleton dimension 1
```

The reward term was added as follows:
``` 
sliding_feet = RewTerm(
        func=mdp.feet_slide,
        params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names=".*foot")},
        weight=0.1
    )
``` 

After some code investigation, I found out, that inside the feet_slide
function, the body velocities are queried as
"asset.data.body_lin_vel_w[:, asset_cfg.body_ids, :2]". This would
return the velocity of all body parts, since asset_cfg.body_ids contains
the ids of all body parts.

Therefore we need to change the line to "body_vel =
asset.data.body_lin_vel_w[:, sensor_cfg.body_ids, :2]" since we only
want the velocity of the body parts that contain the force sensors.
This means we have to change `asset_cfg.body_ids` to
`sensor_cfg.body_ids` inside the tensor call

Doing this leads to the successful running of the simulation without failure.

No additional dependencies are necessary for this fix.  

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

# Description

Extension ui can't load because of `omni.isaac.ml_archive`

Fixes https://github.com/isaac-sim/IsaacLabExtensionTemplate/issues/39

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
|
![before](https://github.com/user-attachments/assets/93a2973c-8934-4ba4-be77-2f7af657126f)
|
![after](https://github.com/user-attachments/assets/605449ff-9280-4ee8-88d3-fc14cc2d4d5d)
|

## 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

# Fix the pytorch broadcasting error when joint_ids are not None

This PR fixes the broadcasting error in `EMAJointPositionToLimitsAction`
when `joint_ids` are not None.

Fixes #1082

## 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

Add `IMU` sensor with cfg class `IMUCfg` and data class `IMUData`.
Compared to the Isaac Sim implementation of the IMU Sensor, this sensor
directly accesses the PhysX view buffers for speed acceleration.

This PR also moves and renames a utility used for cameras to a general
utility location.

Fixes #440 

## Type of change

- New feature (non-breaking change which adds functionality)
- Breaking change (
## Checklist

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

# Description

- Fixes the condition for a test to report success in the
`run_all_tests.py` script. Before, the test could crash and the script
would still report a success. Now we have an explicit check to verify
the test reports success.
- Improved the tests involving environments. Before they could crash
during initialization without any error message and interrupting the
test. This is now caught and reported, the subtest failed, and the
running the other subtests is resumed properly.

## 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

Adds versioning to the docs. Users can now choose a specific tag from
version v1.0.0 onwards.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] 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 add supports for different Gymnasium spaces (`Box`, `Discrete`,
`MultiDiscrete`, `Tuple` and `Dict`) to define observation, action and
state spaces in the direct workflow.

See
https://github.com/isaac-sim/IsaacLab/issues/864#issuecomment-2351819930

## Type of change

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

The cluster workflow succeeded with a newer version of apptainer and
docker. This PR removes the error when not the specific old versions are
used and instead prints a warning once non-tested versions are deployed.

## Type of change

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

## Checklist

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

# Description

Fixes typos in render interval warning messages

## Type of change

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

## Checklist

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

The docs were not deployed properly.

## 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

Adds better error message for invalid values.

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

# Description

* Adds doc building on push so it can be checked that the docs build
correctly on any branch
* Adds `omni.log` to the sphinx import mock list

## 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`
- [ ] 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

Small quality of life change that excludes cache files from VSCode File
Explorer when attached to sim container.

# Description

Earlier, we used [`Carbonite
SDK`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/dir_carb_logging.html)
to log directly. However, this has limited functionalities compared to
[`omni.log`](https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/api/namespace_omni__log.html)
in Omniverse. Using `omni.log`, you can fine-grain the channels and
print levels better.

Link to omni.log documentation:
https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/omni.log/Logging.html

This MR migrates all `carb` references to the new API.

## 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)

## Screenshot

Checking the performance:
```
./isaaclab.sh -p source/standalone/benchmarks/benchmark_load_robot.py --num_envs 2048 --robot g1 --headless
```

**Before (carb logging)**
[INFO]: App start time: 4676.57 ms
[INFO]: Imports time: 2008.77 ms
[INFO]: Scene creation time: 2966.36 ms
[INFO]: Sim start time: 5782.76 ms
[INFO]: Per step time: 15.80 ms

**After (omni.log logging)**
[INFO]: App start time: 4833.56 ms
[INFO]: Imports time: 1983.67 ms
[INFO]: Scene creation time: 2792.97 ms
[INFO]: Sim start time: 5805.97 ms
[INFO]: Per step time: 15.86 ms


## Checklist

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

# Description

Many of the warp kernels don't need backward pass compilation. This MR
disables the computation of the backward passes within the kernels. This
should reduce the kernel compile times.

Reference:
https://nvidia.github.io/warp/configuration.html#kernel-settings

## Type of change

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

## Checklist

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

# Description

Making the base image version a parameter so the pipelines can use
different versions without the need to hardcode that.

# Description

An error of `No checkpoints in the directory` will throw when resume
from a previous training with `--video` set. This is because a new log
folder will be created before the check.

This MR fixes this issue by loading the checkpoint before.

Fixes #1209 

## 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

In the slum workflow, currently, there was an unnecessary `sbatch`
command; this PR removes it. In addition, the profile argument was
marked as optional, but when a job was submitted, and job arguments were
passed, it became necessary. This PR fixes this behavior.

## Type of change

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

## Checklist

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

# Description

This MR disables terminal spamming when launching the app. With the flag
`/app/enableStdoutOutput` disabled, we no longer have the app output
when the kit extensions are startup.

Fixes #1097, #196

## Type of change

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

## Screenshots

```
./isaaclab.sh -p source/standalone/environments/zero_agent.py --task Isaac-Velocity-Rough-Anymal-C-v0 --num_envs 32
```

Output:

```
[INFO] Using python from: /home/mayank/mambaforge/envs/isaaclab-rsl/bin/python                                                   
[INFO][AppLauncher]: Loading experience file: /home/mayank/git_nv/IsaacLab/source/extensions/omni.isaac.lab/omni/isaac/lab/app/../../../../../../apps/isaaclab.python.kit
Loading user config located at: '/media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/data/Kit/Isaac-Sim/4.2/user.config.json'
[Info] [carb] Logging to file: /media/vulcan/packman-repo/chk/kit-kernel/106.1.0+release.140981.10a4b5c0.gl.linux-x86_64.release/logs/Kit/Isaac-Sim/4.2/kit_20241011_180901.log
2024-10-11 16:09:01 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.

|---------------------------------------------------------------------------------------------|
| Driver Version: 535.183.01    | Graphics API: Vulkan
|=============================================================================================|
| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
|     |                                  |        |     |            | Device-ID | UUID       |
|     |                                  |        |     |            | Bus-ID    |            |
|---------------------------------------------------------------------------------------------|
| 0   | NVIDIA RTX A6000                 | Yes: 0 |     | 49386   MB | 10de      | 0          |
|     |                                  |        |     |            | 2230      | bffafd0e.. |
|     |                                  |        |     |            | 68        |            |
|=============================================================================================|
| OS: 20.04.6 LTS (Focal Fossa) ubuntu, Version: 20.04.6, Kernel: 5.15.0-122-generic
| XServer Vendor: The X.Org Foundation, XServer Version: 12013000 (1.20.13.0)
| Processor: Intel(R) Core(TM) i9-9820X CPU @ 3.30GHz | Cores: 10 | Logical: 20
|---------------------------------------------------------------------------------------------|
| Total Memory (MB): 63970 | Free Memory: 41524
| Total Page/Swap (MB): 2047 | Free Page/Swap: 2047
|---------------------------------------------------------------------------------------------|
2024-10-11 16:09:07 [6,565ms] [Warning] [omni.replicator.core.scripts.annotators] Annotator PostProcessDispatch is already registered, overwriting annotator template
2024-10-11 16:09:08 [7,613ms] [Warning] [omni.kit.widget.cache_indicator.cache_state_menu] Unable to detect Omniverse Cache Server. Consider installing it for better IO performance.
[INFO]: Parsing configuration from: <class 'omni.isaac.lab_tasks.manager_based.locomotion.velocity.config.anymal_c.rough_env_cfg.AnymalCRoughEnvCfg'>
2024-10-11 16:09:17 [16,685ms] [Warning] [omni.isaac.lab.envs.manager_based_env] Seed not set for the environment. The environment creation may not be deterministic.
[INFO]: Base environment:
    Environment device    : cuda:0
    Environment seed      : None
    Physics step-size     : 0.005
    Rendering step-size   : 0.02
    Environment step-size : 0.02
[INFO] Generating terrains based on curriculum took : 1.881988 seconds
[INFO]: Time taken for scene creation : 4.564743 seconds
[INFO]: Scene manager:  <class InteractiveScene>
    Number of environments: 32
    Environment spacing   : 2.5
    Source prim name      : /World/envs/env_0
    Global prim paths     : ['/World/ground']
    Replicate physics     : True
[INFO]: Starting the simulation. This may take a few seconds. Please wait...
2024-10-11 16:09:29 [27,861ms] [Warning] [omni.hydra.scene_delegate.plugin] Calling getBypassRenderSkelMeshProcessing for prim /World/envs/env_0/Robot/LF_THIGH/visuals.proto_mesh_1_id1 that has not been populated
2024-10-11 16:09:29 [27,880ms] [Warning] [omni.hydra] Mesh '/World/envs/env_0/Robot/base/visuals.proto_mesh_0_id0' has corrupted data in primvar 'st': buffer size 702 doesn't match expected size 12828 in faceVarying primvars
[INFO]: Time taken for simulation start : 7.193578 seconds
[INFO] Command Manager:  <CommandManager> contains 1 active terms.
+------------------------------------------------+
|              Active Command Terms              |
+-------+---------------+------------------------+
| Index | Name          |          Type          |
+-------+---------------+------------------------+
|   0   | base_velocity | UniformVelocityCommand |
+-------+---------------+------------------------+

[INFO] Action Manager:  <ActionManager> contains 1 active terms.
+------------------------------------+
|  Active Action Terms (shape: 12)   |
+--------+-------------+-------------+
| Index  | Name        |   Dimension |
+--------+-------------+-------------+
|   0    | joint_pos   |          12 |
+--------+-------------+-------------+

Module omni.isaac.lab.utils.warp.kernels 6cb40f6 load on device 'cuda:0' took 0.44 ms
[INFO] Observation Manager: <ObservationManager> contains 1 groups.
+----------------------------------------------------------+
| Active Observation Terms in Group: 'policy' (shape: (235,)) |
+-----------+--------------------------------+-------------+
|   Index   | Name                           |    Shape    |
+-----------+--------------------------------+-------------+
|     0     | base_lin_vel                   |     (3,)    |
|     1     | base_ang_vel                   |     (3,)    |
|     2     | projected_gravity              |     (3,)    |
|     3     | velocity_commands              |     (3,)    |
|     4     | joint_pos                      |    (12,)    |
|     5     | joint_vel                      |    (12,)    |
|     6     | actions                        |    (12,)    |
|     7     | height_scan                    |    (187,)   |
+-----------+--------------------------------+-------------+

[INFO] Event Manager:  <EventManager> contains 3 active terms.
+--------------------------------------+
| Active Event Terms in Mode: 'startup' |
+----------+---------------------------+
|  Index   | Name                      |
+----------+---------------------------+
|    0     | physics_material          |
|    1     | add_base_mass             |
+----------+---------------------------+
+---------------------------------------+
|  Active Event Terms in Mode: 'reset'  |
+--------+------------------------------+
| Index  | Name                         |
+--------+------------------------------+
|   0    | base_external_force_torque   |
|   1    | reset_base                   |
|   2    | reset_robot_joints           |
+--------+------------------------------+
+----------------------------------------------+
|    Active Event Terms in Mode: 'interval'    |
+-------+------------+-------------------------+
| Index | Name       | Interval time range (s) |
+-------+------------+-------------------------+
|   0   | push_robot |       (10.0, 15.0)      |
+-------+------------+-------------------------+

[INFO] Termination Manager:  <TerminationManager> contains 2 active terms.
+---------------------------------+
|     Active Termination Terms    |
+-------+--------------+----------+
| Index | Name         | Time Out |
+-------+--------------+----------+
|   0   | time_out     |   True   |
|   1   | base_contact |  False   |
+-------+--------------+----------+

[INFO] Reward Manager:  <RewardManager> contains 11 active terms.
+-----------------------------------------+
|           Active Reward Terms           |
+-------+----------------------+----------+
| Index | Name                 |   Weight |
+-------+----------------------+----------+
|   0   | track_lin_vel_xy_exp |      1.0 |
|   1   | track_ang_vel_z_exp  |      0.5 |
|   2   | lin_vel_z_l2         |     -2.0 |
|   3   | ang_vel_xy_l2        |    -0.05 |
|   4   | dof_torques_l2       |   -1e-05 |
|   5   | dof_acc_l2           | -2.5e-07 |
|   6   | action_rate_l2       |    -0.01 |
|   7   | feet_air_time        |    0.125 |
|   8   | undesired_contacts   |     -1.0 |
|   9   | flat_orientation_l2  |      0.0 |
|   10  | dof_pos_limits       |      0.0 |
+-------+----------------------+----------+

[INFO] Curriculum Manager:  <CurriculumManager> contains 1 active terms.
+---------------------------+
|  Active Curriculum Terms  |
+--------+------------------+
| Index  | Name             |
+--------+------------------+
|   0    | terrain_levels   |
+--------+------------------+

Creating window for environment.
[INFO]: Completed setting up the environment...
[INFO]: Gym observation space: Dict('policy': Box(-inf, inf, (32, 235), float32))
[INFO]: Gym action space: Box(-inf, inf, (32, 12), float32)
```

## Checklist

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

# Description

This PR adds in logic to fix errors when noise config parameters are
tensor based and do not have the correct device setting. This adds a
check at the beginning of each noise function to correct the config
parameters device if they are torch.tensors. In addition this PR adds
tests for noise models.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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 makes a minimal script to measure how long it takes to load
different robots.

## Type of change

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

## Screenshots

For loading 2048 robots headless:

| **Metric** | **H1** | **G1** | **Anymal_D** |

|-------------------|-------------------|-------------------|-------------------|
| App start time | 3791.73 ms | 3660.98 ms | 3597.30 ms |
| Imports time | 1116.61 ms | 1132.87 ms | 1142.27 ms |
| Scene creation time | 1584.14 ms | 1674.18 ms | 2000.40 ms |
| Sim start time | 1451.94 ms | 2647.43 ms | 1778.49 ms |
| Per step time | 2.31 ms | 4.71 ms | 3.67 ms |

Computer specs:

* OS: Ubuntu 20.04.6 LTS x86_64 
* CPU: 12th Gen Intel i9-12900K (24) @ 5.100GHz 
* GPU: NVIDIA 4090 RTX

## Checklist

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

# Description

When setting joint limits, the existing default joint positions can fall
outside of the bounds of the new joint limits. This change clips the
default joint positions to ensure they are within the bounds of the new
limits.

## Type of change

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


## Checklist

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

# Description

This PR attempts to fix #1162 by adding the possibility to do not pass
the `DISPLAY` env to the docker exec command if the variable is not
defined

Fixes #1162

## 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

There was a minor error in the `run_ray_caster_camera.py` tutorial
script that prevented it from saving images.

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

# Description

Moving codebuild pipelines out of github folder to avoid github actions
being triggered on them.

# Description

This MR adds configuration classes that allow spawning different assets
at the resolved prim paths. For instance, for the prim path expression
"/World/envs/env_.*/Object", these configuration instances allow
spawning a different type of prim at individual path locations.

Fixes #186

## Type of change

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

## Checklist

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

The current friction randomization event only selects a single random
number in the given range and does not vary them. With the given PR,
this is getting fixed, and there is a sampling of the entire given
range.

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
| ![Screenshot from 2024-10-03
22-26-49](https://github.com/user-attachments/assets/d13f86ee-c776-4046-af2e-46be8f271a00)
| ![Screenshot from 2024-10-03
22-27-15](https://github.com/user-attachments/assets/cf0a536d-20d0-47f1-b580-25241049cdd4)
|


## Checklist

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

---------
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>