# Description

Expands upon `test_articulation.py` to test with mulitple robots and on
both CPU / GPU.

Fixes #861 

## 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
- [ ] 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 adds support for property attributes in the
`omni.isaac.lab.utils.configclass` decorator. Earlier, the configclass
decorator failed to parse the property attributes correctly and made
them instance variables 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`
- [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

Fixed the typo in the `create_scene.py` tutorial.

Fixes #944

## Type of change

- This change requires a documentation update

## 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
- [ ] 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

While developing some teleoperation methods, I discovered that the
keyboard y-axis was moving in a non-intuitive direction. It turned out
that the +ve and -ve y-axis are bound to keys (D, A) instead of (A, D).
This MR fixes the issue in both keyboard device documentation
instructions to follow the right-hand rule.

## Type of change

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

## Screenshots

![Screenshot from 2024-08-30
14-57-26](https://github.com/user-attachments/assets/5f29054e-f0e8-4b8e-bb90-49f3403a1e08)


## 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

# Description

Added the data type "distance_to_camera" in the `TiledCamera` class to
be consistent with all other cameras. This data type is equal to the
"depth" datatype.

## 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

# Description

Before, the environment IDs in the Event Manager's apply call in reset
mode could be overwritten when iterating through the event terms. This
could make the environment IDs invalid in some cases.
This change avoids overwriting the global env_ids variable when checking
for valid environment IDs that satisfy the frequency condition.

## 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

Isaac-Franka-Cabinet-Direct-v0 sometimes had unstable behaviors with
trained policies where the robot wasn't always able to achieve the task.
This change makes slight modifications to the reward function to improve
the behavior for the policy.


## 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

Updates the camera docs with SI units and implants a new test to check
that the intrinsic are set correctly for the raycaster camera.

## 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

The comment was saying there are 3 origins, when only 2 were instantiated

## 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
- [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

Fixes deprecated scipy imports in the devices module for interfacing
with SE3 gamepad, keyboard and spacemouse.

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

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

Previously, the configclass instance did not properly parse
classmethods. For instance, the following would fail:

```python
from __future__ import annotations

"""Launch Isaac Sim Simulator first."""

from omni.isaac.lab.app import AppLauncher

# launch omniverse app
app_launcher = AppLauncher(headless=True)

"""Rest everything follows."""

from omni.isaac.lab.utils.configclass import configclass


@configclass
class DummyClass:

    a: int = 5

    def instance_method(self):
        print("Value of a: ", self.a)

    @classmethod
    def class_method(cls, value: int) -> DummyClass:
        return cls(a=value)


cfg = DummyClass()

# check all methods are callable
cfg.instance_method()
new_cfg1 = cfg.class_method(20)

# create the same config instance using class method
new_cfg2 = DummyClass.class_method(20)
```

This MR fixes the checks to make sure class-methods remain bound to the
class and do not become instance variables.

## 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

Sets the "render_fps" metadata used by the gym.wrappers.RecordVideo such
that, if it is used, the produced video will have the correct episode
length (i.e., the environment in the video will play at the correct
speed).

The correct render_fps should be equal to `1 / (self.cfg.decimation *
self.cfg.sim.dt)` which I integrated to the init function of the
ManagerBasedRLEnv. This seems to work well.

Fixes #892

## Type of change

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

## Screenshots

<img width="1048" alt="Screenshot 2024-08-28 at 18 10 30"
src="https://github.com/user-attachments/assets/d4fd8482-fbbc-48fa-8890-6a75a3fd99dc">

## 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 adds the possibility of initializing cameras (both Raycaster
Cameras and USD Cameras) with the intrinsic matrix instead of using the
aperture parameters. The intrinsic matrix is defined in the pattern
config and the pinhole cameras spawn config, respectively.

Moreover, it fixes the bug that the vertical aperture is not adjusted
for the USD camera case (it will always stay at the default value, even
if the horizontal aperture is set). The default is squared pixels;
however, it also allows the setting of other values.

Fixes https://github.com/isaac-orbit/IsaacLab/issues/226

## 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

This MR resolved the exception occurring during the initialization of
the parent class in NormalVelocityCommand.

## 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

* Fix tested version in docs
* Add sb3 example for Hydra

## 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

# Description

This PR adds in a
[CODEOWNERS](https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-code-owners)
file so that we can better handle the review request process.

## 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: Mayank Mittal <mittalma@leggedrobotics.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>

# Description

When cameras are enabled, a default render product always gets created
for the viewport, which brings additional overhead for rendering the
viewport at each step. However, when running in headless mode, we may
not need to render the viewport if we are not recording or
livestreaming.

This change disables viewport rendering in the headless cases where
recording and livestreaming are not required.

## 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`
- [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

<!--
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

When configclass dicts are nested inside lists, the list is treated as
an Iterable object and assigned directly to the outer configclass when
updating configclass data with dicts. This overwrites the configclass
object in the list with a dict object and causes undesired behavior.

This change checks for nested dictionaries inside Iterables and updates
the values inside the dictionary individually without overwiting the
full Iterable.

Fixes https://github.com/isaac-sim/IsaacLab/issues/843

## 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

When installing Isaac Lab in conda environment, numpy version 2.0 gets
installed, which breaks all the scripts from running properly.

This MR fixes compatibility issues with NumPy by setting its
installation version to less than 2.0.

## 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

I added images for the tutorials and modified the docs to include them

## 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

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

# Description

This MR adds deformable object API to assets in the core framework. The
class creates two physics views: one for the deformable object and the
other one for the deformable material. Based on these, the users can set
and get different nodal information from the solver, as well as
randomize deformable material properties.

The MR also adds some basic tests and a script in the tutorial that
showcases the deformable object.

## Type of change

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

## Screenshots

Output from:

```bash
./isaaclab.sh -p source/standalone/tutorials/01_assets/run_deformable_object.py
```


https://github.com/user-attachments/assets/9265f4d4-bebf-41b4-9d73-35c558f47a15

## 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

In the verification step for Isaac Sim installed from binaries, if I set
the `ISAACSIM_PYTHON_EXE` variable as specified and print it, there are
extra quotes, so the later steps don't work.

This MR fixes the environment variable in Windows verification.

## 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
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Signed-off-by: StrainFlow <107502145+StrainFlow@users.noreply.github.com>

# Description

The goal of this PR is to introduce expanded functionality to
observation corruption/realism. This is done by introducing the concept
of configurable modifiers. This creates an architecture that can apply a
list of custom modifiers to observation data giving flexibility to order
of operations. Existing modifiers for clip, scale, bias, and noise can
be used. This does so without changing the current functionality. This
PR also includes two new modifiers that are stateful (i.e. output is
dependent on previous state) that utilize a Callable class. They are a
`DigitalFilter` and an `Integrator`.

Summary of Additions:
- Adds `ModifierCfg` and `Modifier`
- Adds example modifiers functions for bias, scale, clip, noise
- Adds example modifiers classes: DigitalFilter, Integrator
- Adds functionality to `ObservationManager` to prepare and handle
modifiers of observation data
- Adds unit tests for modifiers in test_modifiers.py
- Adds test to test_observation_manager.py to test integration with
modifiers

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Currently, for multiple runs, the code is pushed to the same location on
the cluster. When the runs are not directly started (i.e.,
are in the queue), the code will be replaced each time a new job is
submitted. This PR creates a new copy of the code for each job to ensure
that the intended version is used for the submitted job.

## 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
- [ ] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This MR adds utilities to enable the hydra configuration system.
Using the `train.py` scripts, the user can now change any parameter in
the environment or agent configs from command line inputs, for example:
``` 
python source/standalone/workflows/rsl_rl/train.py --task Isaac-Cartpole-v0 --headless env.actions.joint_effort.scale=10.0
```

## Type of change

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

## Checklist

- [ ] 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

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

# Description

Mainly documentation fixes and ensuring the code quality remains
consistent. Also adds the `container.sh` script which calls the python
script for compatibility reasons. We can remove it in later releases.

## 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

Noticed that we were checking for function arguments inside a for-loop,
which isn't necessary. Moved this check outside to make it simpler to
read the code.

Also noticed a small corner case in the event manager when reset is
called and `env_ids` is None. In that case, it would bypass the check
for min steps between reset and directly apply the term to the
environment. I am not sure if that was intentional. if so, I can revert
the 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`
- [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 cluster setting after merge of [python
conversion](https://github.com/isaac-sim/IsaacLab/commit/f565c33d7716db1be813b30ddbcf9321712fc497)

## 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

Long lists become really hard to read and understand. This MR switches
them to tables instead.

## Type of change

- This change requires a documentation update

## Screenshots


![Image](https://github.com/user-attachments/assets/783768e2-da93-4b48-ad6e-2f99463ec615)

## 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 recreates the capabilities initially made by @farbod-farshidian
[here](https://github.com/isaac-sim/IsaacLab/pull/455) for the new
Pythonized-container interface.

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

<!--
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putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
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---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

This PR replicates the capabilities of `container.sh` in Python, and
breaks its capabilities up into several files under a new directory
`/docker/isaaclab_container_utils`, as well as a superior interface in
`container.py`. The intention of this change is to make our
container-mediating code more easily readable, debuggable, and
modifiable. It is also done in the hopes that it can be more easily
distributed as we see a desire from users to [compose and modify our
setup](https://github.com/isaac-sim/IsaacLab/pull/455). It also has the
additional benefit of needing fewer sudo installs because of Python's
native yaml handling.

The central class, `IsaacLabContainerInterface`, contains a lot of the
original utility of the script, and several of the current
`container.py` scripts options simply configure it and call a method.
@pascal-roth `apptainer_utils.py` and the `./container.py job/push`
logic are separated out, I'm curious what you think of this delineation.
I also haven't been able to fully test that end of things as I don't
have a cluster to use, though I did verify that it worked to the extent
I could.

I will update the docs when I have received approval

<!-- 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)
- This change requires a documentation update

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

---------
Signed-off-by: Hunter Hansen <50837800+hhansen-bdai@users.noreply.github.com>
Signed-off-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>

# Description

The rl_games train.py script did not include the checkpoint and sigma.
(it was none)
I have added these features and verified their operation.

- 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

# Description

Adds the attribute `preserve_order` in `JointActionCfg`, to choose whether joint-related actions should keep the same
order as how the `joint_names` are listed in the config.

Fixes #786

## Type of change

- New feature 

## 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
- [x] I have updated the changelog and the corresponding version in the
extension's config/extension.toml file
- [x] I have added my name to the CONTRIBUTORS.md or my name already
exists there

# Description

This MR resolves a naming discrepancy in the rsl-rl agent configuration
files across multiple tasks. By aligning all tasks to use the
`rsl_rl_ppo_cfg` naming convention, it ensures uniformity and clarity in
configuration file names.

## 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

Since the move to the ``--device`` cli to set the device to run the
simulation on, this clashes with ``--device`` for the teleoperation
environments.

This MR renames ``--device`` to ``--teleop_device`` for these examples.

## 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

Fixes importing rsl_rl configs

## 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
- [ ] 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

Previously, it was not possible to run training scripts with rl_games,
skrl, sb3 when rsl_rl was not installed.

Fixes #749 

## 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

Before setting up the device was tedious and redundant, and you would
see code like:

```python
sim_utils.SimulationCfg(device="cpu", use_gpu_pipeline=False, dt=0.01, physx=sim_utils.PhysxCfg(use_gpu=False))
```

With this MR, we simply set the desired device, and all the parameters,
such as `use_gpu_pipeline` and `use_gpu` propagate automatically,
resulting in the following:

 ```python
sim_utils.SimulationCfg(device="cpu", dt=0.01,
physx=sim_utils.PhysxCfg())
```

The command line input `--cpu` has been removed in favor of `--device device_name`, where valid options for `device_name` are `cpu` (run on CPU), `cuda` (run on GPU with device id 0), or `cuda:N` (run on GPU with device id N, for example `cuda:0`).

## Type of change

- 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
- [ ] 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 MR enables users to easily record videos from trained checkpoints,
which is useful for sanity checks or creating promotional videos for
research papers.

Fixes: https://github.com/isaac-sim/IsaacLab/issues/130

## 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
- [ ] 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

Previously, the observation manager rigidly tried concatenating all the
terms along the last dimension at construction. However, when one has
hybrid-dimensional terms inside the observation group, this operation
would fail, leading to an error. In principle, the concatenation should
only happen when users set the attribute `concatenate_terms` to True
inside the group settings.

This MR lifts the above operation and adds a proper error when users try
to concatenate observation terms of different shapes. They must set the
concatenation flag to False if they want a "hybrid" observation group.

Fixes #768

## 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
- [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