# Description

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Implement part of https://github.com/isaac-sim/IsaacLab/issues/1769
(optimization)

This is a breaking change because the fast variant is now enabled by
default.

I also improve sb3 training script, fixed loading of normalization and
fixed the humanoid hyperparameters to be similar to rsl-rl, so we can
compare apples to apples in terms of training speed.

I will probably open another PR for the rest of the proposals.

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- This change requires a documentation update

With respect to testing, how do you run a single test?
and is there anything I should add?


## Checklist

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---------
Signed-off-by: Antonin RAFFIN <antonin.raffin@ensta.org>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Add more information in the print out message, when generating
disassembly paths.

## Type of change

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

## Checklist

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exists there

Fixes link to python script in walkthrough tutorial

Fixes #2740 

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# Description

Fix the link

## Type of change

- This change requires a documentation update

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exists there
Signed-off-by: robotsfan <fanziqi614@gmail.com>

# Description

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Fixed potential issues in
:func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material`
related to handling visual prims during texture randomization.

Fixes # (issue)

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---------
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>

# Description

pxr.Semantics was deprecated in Isaac Sim 4.2 and is now Semantics. This
PR replaces imports of pxr.Semantics with Semantics if available.

## Type of change

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applicable. -->

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

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# Description

This PR creates support wandb logging in rl_games training. rl_games has
been supporting wandb logging, and the examples of how to configure it
can be seen from
[rl_games-wandb_support](https://github.com/Denys88/rl_games/blob/51ac9aa2981ba3204ea513104a1da46e6b5a39c9/runner.py
) we could follow the same style and enable current rl_games pipeline to
use wandb as well.

## Type of change

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applicable. -->

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

## Checklist

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# Description

This PR show the available RL library (and algorithms) configs on error
message when an entry point key is not available for a given task.

Example: for `./isaaclab.sh -p
scripts/reinforcement_learning/sb3/train.py
--task=Isaac-Cart-Double-Pendulum-Direct-v0 --headless`

Before:

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'. Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
```

After

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'.
Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
Existing RL library (and algorithms) config entry points: 
  |-- rl_games: PPO
  |-- skrl: PPO, IPPO, MAPPO
```

## Type of change

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

## Checklist

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

Adds support for bash history between docker start/stop cycles.

## Type of change

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

## Checklist

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

To be consistent with the recommendation of conda installation, we are
updating the quickstart guide to also use conda

## Checklist

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exists there

# Description

Fix the issues reported from QA.
- Change number of trajectories for disassembly task and the job will
output this number during running.
- Add explanation about disassembly task in environment doc (not
involving policy training and evaluation)
- Add flag for wandb to record learning curves for assembly tasks
- Add flag for max_iterations to set number of training epochs
- Add the command line for windows in run_w_id.py and
run_disassembly_w_id.py

## Type of change

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

## Checklist

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exists there

# Description

Adds section in readme to highlight dependency of isaac sim versions for
different releases and branches of isaac lab.
Adds additional note about the Isaac Lab feature/isaacsim_5_0 branch
that currently requires the isaac sim OSS repo built from source.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

Removes the old license headers in scripts and keep only the new one.


## Type of change

- This change requires a documentation update

## Checklist

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# Description

This PR fixes an issue where only one `FrameTransformer` instance could
visualize its connecting line between source and target frames. The
problem stemmed from a shared global `debug_draw` interface, where each
instance's call to `clear_lines()` would erase the lines drawn by
others.

The solution replaces `debug_draw` with a per-instance
`VisualizationMarkers`-based renderer that uses a thin yellow cylinder
to depict the connecting line. This ensures that all active
`FrameTransformer` instances in a scene can render their lines
concurrently without interfering with each other.

Fixes #2525, #1754

## 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

| Before | Now |
|---------|----------|
| <img
src="https://github.com/user-attachments/assets/c6a3f496-4c11-44b1-a3d3-e1af5ae5e4b0"
width="500"/> | <img
src="https://github.com/user-attachments/assets/89342fab-73c1-470d-8a63-0a45c11b3aa8"
width="500"/> |

Only the most recently added `FrameTransformer` line would appear. After
this change, all relevant connections are visualized concurrently.

## Checklist

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

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

# Description

Previously, the physics engine introduced a new feature to automatically
perform collision filtering across environments when physics replication
is enabled. However, this feature has limitations for CPU simulation, so
we still need to explicitly call collision filtering on CPU simulation.

This change fixes the scene setup process to do explicit collision
filtering when running on the CPU.

Fixes #2548 

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


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

# Description

Currently, the `TerrainGenerator` class is hardcoded in the
`TerrainImporter`. This class resolves this issue and allows for custom
implementations.

## Type of change

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

## Checklist

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This updates the help output of the main script (isaaclab.sh/bat --help)
and the docs to reflect the switch from unittest to pytest for running
unit tests.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

Previously the root positions was obtained by performing the following
steps:

1. Call PhysX getters to get transforms and velocities
2. Concatenating the two to make a single state tensor
3. Indexing this tensor to get the position

For applications where we only want the positions, the above is an
expensive operation as we call CUDA-MemCpy twice and then do
concatenation which adds overhead.

This MR simplifies the above process by having separate lazy buffers for
poses, velocities and states.

Fixes # (issue)

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## Type of change

- 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

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## Checklist

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

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

# Description

The intent is to create an in depth walkthrough for setting up a
project, adding a robot, and training it in the direct workflow. the
goal is to reference our tutorials and other documentation
appropriately, and build off of the walkthrough for other workflows in
the future

## Checklist

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

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

# Description

Gymnasium 1.0 introduced support for specifying module:task to
automatically import modules instead of pre-importing task modules. This
PR adds support for this feature and enforces the gymnasium version to
be >= 1.0.


## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

As pointed out in the reported issue, there seem to be some expensive
`tolist()` operations inside the circular buffer class, that aren't
necessary. This MR simplifies the code.

Fixes #2590

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Update license headers to with link to define the Isaac Lab Developer
entities. Additionally, adds DCO (Developer Certificate of Origin) to
the contributing.md page for contributors

## Type of change

- This change requires a documentation update

## Checklist

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

Modify the name of code folder and environment for AutoMate. Before, the
folder name `assembly` is too general. We change it to `automate`. Also,
we add `AutoMate` in the environment name.


## Type of change

- This change requires a documentation update


## Checklist

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

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

# Description

If you perform pause-play while running a checkpoint, the manager terms
that are in the "play" callback gets called which leads to terminal
spamming. This MR adds a check to make sure we don't reinitialize the
terms twice.

## Type of change

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

## Checklist

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

---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

The imports for `omni.log` was missing. In the other file, carb was used
(incorrectly) instead of omni.log.

## Type of change

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

## Checklist

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

# Description

As discussed in #2284, I was writing an observation function to pass the
time remaining in an episode (in seconds) to an observation term in a
Manager-based environment, and found this could not be done without
modifying `ManagerBasedRLEnv` to initialize `episode_length_buf` before
managers are loaded. Here is a summary of changes made:

* Added initialization of `episode_length_buf` in
:meth:`load_managers()` of :class:`~isaaclab.envs.ManagerBasedRLEnv` to
make it available for use in mdp functions. Note: existing
initialization in :meth:`__init__` left in place in case it is needed
for other use cases. Potentially redundant? Assess.
* Added :attr:`~isaaclab.envs.ManagerBasedRLEnv.curr_episode_length` to
:class:`~isaaclab.envs.ManagerBasedRLEnv` which returns reshaped
``episode_length_buf`` so it is visible as an attribute in the
documentation.
* Added time observation functions to `~isaaclab.envs.mdp.observations`
module, :func:`~isaaclab.envs.mdp.observations.current_time_s` and
:func:`~isaaclab.envs.mdp.observations.remaining_time_s`.

I'm not certain whether the documentation will be updated automatically
or if there are further steps I need to take. When I build the
documentation on my machine it is updated, but the outputs are ignored
by git. Please let me know if there's anything else I need to do.

I could also use some advice on tests (apologies in advance for my lack
of experience here, my background is not in software dev). Locally I
modified the `Isaac-Velocity-Rough-Anymal-C-v0` task to add the two new
observation functions, and began to train a policy in rsl_rl using the
provided `scripts/reinforcement_learning/rsl_rl/train.py` script, and
both were available to be viewed and appeared to be working correctly. I
tried to run the existing suite of unit tests but it gave me an error I
don't understand (see below). I also started to create a new script
similar to
[`isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py`](https://github.com/isaac-sim/IsaacLab/blob/7de6d6fef9424c95fc68dc767af67ffbe0da6832/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py)
but that would have required a policy trained using the new observation
functions (which I can produce, but wasn't sure if that would be
worthwhile since it wouldn't be available to others).

Output when running `./isaaclab.sh -t`:
```
[INFO] Warm starting the simulation app before running tests.                                                                                                                                                                                                                                                                        
ERROR:root:Error warm starting the app: b'2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 16 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 17 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 18 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 19 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 20 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 21 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 22 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 23 belongs to.\nMESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0\n\n'
```

Cheers.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation (_maybe_?)
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works (please advise)
- [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: TheIndoorDad <167908515+TheIndoorDad@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Added `max_grad_norm` field to `RslRlDistillationAlgorithmCfg` in order
to be compatible with https://github.com/leggedrobotics/rsl_rl/pull/91

## 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
- [ ] 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: alessandro.assirelli <alessandro.assirelli@agile-robots.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Updates version of the starlette dependency to avoid conflicts with
fastapi.
Also explicitly add numba as a dependency for AutoMate, though it should
already be a part of Isaac Sim.

Fixes #2580 

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
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# Description

fix a typo in the environment doc

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

Updates license folder to include additional 3rd party OSS dependencies.

## 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
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# Description

As per findings in #1711, `quat_apply` was found to be faster that
`quat_rotate`. This PR:
- adds `quat_apply_inverse`
- changes all instances of `quat_rotate` and `quat_rotate_inverse` to
their apply counterparts.

Fixes #1711

## Type of change

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

## Screenshots

| Per 1000 | cpu | cuda |
|:----------|:-------:|:---------:|
|**quat_apply:** |			**217.91 us** |	**47.07 us**|
|einsum_quat_rotate: |		295.95 us |	127.62 us|
|iter_quat_apply: |		679.10 us |	850.25 us|
|iter_bmm_quat_rotate: |		829.62 us |	1.28 ms|
|iter_einsum_quat_rotate: |	937.73 us |	1.46 ms|
|**quat_apply_inverse:** |		**212.20 us** |	**48.43 us**|
|einsum_quat_rotate_inverse: |	278.43 us |	114.25 us|
|iter_quat_apply_inverse: |	681.85 us |	774.82 us|
|iter_bmm_quat_rotate_inverse: |	863.27 us |	1.23 ms|
|iter_einsum_quat_rotate_inverse: |	1.04 ms |	1.45 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
- [ ] 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: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

Shape mismatched for randomised sample values in
randomize_rigid_body_com in `events.py.`

Fixes #2557 

<!-- 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
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## Type of change

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

- Bug fix (non-breaking change which fixes an issue) for #2557 

## 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
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exists there

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---------
Signed-off-by: Dhananjay M Shendre <shendredm1999@gmail.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: DJ <shendredm1999@gmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

This MR adds new tasks for assembly tasks based on AutoMate paper. Tasks
are 100 assemblies for diverse parts.

## Type of change

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

## Screenshots


![00004](https://github.com/user-attachments/assets/01fe26f4-bfc8-4df3-b99d-db3c01448ed5)

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

# Description

<!--
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to check the contribution guidelines.

Link:
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-->

Add unit test for training and evaluating environments across all
workflows using an input config.

The config determines which environments to train, how long to train,
and training KPI thresholds.

Every training + evaluation is one pytest, which fails if any of the
thresholds aren't met.

A KPI json can be created to summarize the trainings. This json also
functions as a KPI payload which will be uploaded to a Grafana Dashboard
every week using OSMO CI, using the full mode in the config. Can be used
to track improvements and regressions.

Dashboard -
[LINK](https://grafana.nvidia.com/d/cejwy2w46gtmob/24b94e54-6b8b-50a4-969a-121dc573a34c?orgId=105)

<!-- As a practice, it is recommended to open an issue to have
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## Type of change

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

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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
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exists there

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

# Description


Handling exceptions when raised inside the initialization callbacks

Fixes #1025 

## Type of change

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


## Checklist

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

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

# Description

Introduced CoM randomization in events.py for manager based envs.
Individual range can be selected for individual axis and bodies.

Thanks to #641 and #693  for motivation of the code.  

## Type of change

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

## Checklist

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

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to check the contribution guidelines.

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This reverts commit 212de427.

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

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

Fixed name of keyword args in implicit actuator config in order to
remove the following warnings

`
[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg>
object has a value for 'effort_limit'. This parameter will be removed in
the future. To set the effort limit, please use 'effort_limit_sim'
instead.
[Warning] [isaaclab.actuators.actuator_pd] The <ImplicitActuatorCfg>
object has a value for 'velocity_limit'. Previously, although this value
was specified, it was not getting used by implicit actuators. Since this
parameter affects the simulation behavior, we continue to not use it.
This parameter will be removed in the future. To set the velocity limit,
please use 'velocity_limit_sim' instead.
`

## 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

# Description

Earlier, when visualizing using the frame transformer, it was unclear
which frame corresponds to the source frame and so on. This MR uses the
debug draw tool to connect the source and target frames making the
transformations clearer.

## Type of change

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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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 <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This MR adds a function to set the visibility of prims corresponding to
an Asset. This is useful for randomization of distractors for visual
effects.

Note: Currently, this is not implemented for RigidObjectCollection as it
seems unclear how to "index" the prims in there.

## Type of change

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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feature works
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extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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