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

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

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


## Checklist

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

# Description

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

## Type of change

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

## Screenshots

N/A

## Checklist

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

# Description

A few scripts in the tools and tutorials folder had outdated APIs that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

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

## Type of change

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applicable. -->

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

## Checklist

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

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# Description

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

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



Fixes #1659 

## Type of change

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

## Checklist

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

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

# Description

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

Fixes #1643 

## Type of change

- This change requires a documentation update

## Checklist

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

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# Description

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

Fixes #1651

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discussions on the proposed pull request.
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## Type of change

docstring fix.

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

**Before Change**

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

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

 but the docstring says (num_instances, 1, x)

**After Change**

docstring says (num_instances, num_bodies, x)


## Checklist

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

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

# Description

<!--
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to check the contribution guidelines.

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

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

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

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

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

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

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## Checklist

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

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# Description

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

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

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


## Type of change

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

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


## Checklist

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

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# Description

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

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

## Type of change

Documentation only.

## Checklist

I have built the documentation locally.

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works - _n/a_
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file - _Does not affect an
extension._
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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# Description

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

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

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

## Type of change

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


## Checklist

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

# Description

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

# Description

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

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

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

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

## Type of change

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

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

Viewer defined as follows:

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

No other changes were made from the default environment definition.


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

## Checklist

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

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

# Description

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

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

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

## Checklist

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

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

# Description

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

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

Fixes #1552 

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

## Type of change

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

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

<!--
Example:

| Before | After |
| ------ | ----- |
| _gif/png before_ | _gif/png after_ |

To upload images to a PR -- simply drag and drop an image while in edit
mode and it should upload the image directly. You can then paste that
source into the above before/after sections.
-->

## 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

<!--
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
-->

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

# Description

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

## Type of change

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

## Checklist

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

# Description

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

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

## Type of change

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

## Checklist

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

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

# Description

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

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

## Type of change


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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation - _I don't
think it's needed._
- [x] My changes generate no new warnings - _As far as I can tell._
- [ ] I have added tests that prove my fix is effective or that my
feature works - _Not a feature._
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file - _n/a?_
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

This PR fixes #1586.

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

## Type of change

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

## Checklist

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

# Description

SKRL provides examples using JAX, which by default only installs the CPU
version. To be compatible with CUDA, it is required to install JAX prior
to installing SKRL. This PR updates the installation instructions for
SKRL to note this requirement.

## Type of change

- This change requires a documentation update

## Checklist

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

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# Description

In https://github.com/isaac-sim/IsaacLab/pull/891, the
`depth_clipping_behavior` parameter was added with the default mode set
to `"zero"`. This introduced a breaking behavior in the depth cameras as
previously, values returned by the cameras were not clipped. This PR
sets the default behavior to `"none"`, which should bring us back to the
original camera behavior.

## Type of change

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

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

## Checklist

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

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# Description

This PR adds an option to enable null-space control within
`OperationSpaceController` (following the discussions in #913).

## Details

Currently, `OperationSpaceController` controls only the task space,
which results in joint movements within the null-space of redundant
robotic manipulators. In general, it is desirable to have some control
over the robot null-space, e.g., to prevent the joints from going near
their limits. Hence, the PR adds the following:

- An optional nullspace (position) control integrated into
`OperationSpaceController`. This controller attracts the robot joints to
provided targets whereas possible, in parallel to the task-space target.
- Test cases for `OperationSpaceController` that use null-space control.
- Updates to the related tutorial script and documentation to use and
describe null-space control.
- Integration of (optional) null-space control to
`OperationSpaceControllerAction` with predefined joint targets, e.g.,
default joint positions, joint centers, zero joint position.
- Integration of null-space control to `"Isaac-Reach-Franka-OSC-v0"`
manager-based environment.

Null-space control utilizes either the dynamically consistent Jacobian
inverse or the Moore–Penrose inverse, depending on whether the full
inertia matrix is available.

## 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: Özhan Özen <41010165+ozhanozen@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fixes docstring for UsdFileCfg
Signed-off-by: Kelly Guo <kellyg@nvidia.com>

# Description

Currently the root_physx_views of the rigid bodies and articulations
output linear and angular velocities of the com of bodies rather than
the link frame. This PR transforms the velocities and accelerations to
the link frame of the body.

Fixes #942 

## Type of change

- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

## Checklist

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

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---------
Signed-off-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fixes broken image link of `stack-cube` in document

## Type of change

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

## Screenshots

![2024-12-17 11-33-32
的屏幕截图](https://github.com/user-attachments/assets/dc8b4862-2df4-451c-b4ed-9b630f9f5f0e)

## 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 MR adds new tasks for contact-rich manipulation based on the
Factory line of work. Tasks include peg insertion, gear meshing, and nut
threading.

## Type of change

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

## Screenshots

<img
src="https://github.com/user-attachments/assets/c8c32592-8972-4b1e-be7c-51b0313393bf"
alt="peg_insertion" height="200"/>
<img
src="https://github.com/user-attachments/assets/437baf31-f9cb-4a27-94ac-5f21e2309089"
alt="gear_meshing" height="200"/>
<img
src="https://github.com/user-attachments/assets/bccdf71b-cd5f-45f7-b4ca-71616885ef48"
alt="nut_threading" height="200"/>

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

# Description

In the command manager, we were logging the metrics after resampling the
commands. This leads to incorrect logging of metrics when inside the
`resample` call, the metrics tensors get reset. This MR fixes the order
to make sure the bug doesn't happen.

## 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

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

Adds `OperationSpaceController` to docs and tests and implement corresponding action/action_cfg classes (#913)

# Description

This PR adds the `OperationalSpaceController` to the docs and provides
some tests for its parametric features. Moreover, it implements the
corresponding `OperationalSpaceControllerAction` and
`OperationalSpaceControllerActionCfg` classes so they can be used with
manager-based environments.

Fixes #873 

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [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: Özhan Özen <41010165+ozhanozen@users.noreply.github.com>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This change adds a call to `update_articulations_kinematic()` after
performing reset in an environment to ensure that non-render sensors are
updated after performing reset.

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

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

# Description

This adds a UI interface to the Managers in the `ManagerBasedEnv` and
The `MangerBasedRLEnv`. Additions include:
- UI widgets for `LiveLinePlot` and `ImagePlot`
- `ManagerLiveVisualizer/Cfg`: Given a `ManagerBase` (i.e.
action_manager, observation_manager, etc) and a config file this class
creates the the interface between managers and the UI.
- `EnvLiveVisualizer`: A 'manager' of `ManagerLiveVisualizer`. This is
added to the `ManagerBasedEnv` but is only called during the
initialization of the managers in `load_managers`
- Adds `get_active_iterable_terms` implementation methods to
ActionManager, ObservationManager, CommandsManager, CurriculumManager,
RewardManager, and TerminationManager. This method exports the active
term data and labels for each manager and is called by
ManagerLiveVisualizer.
- Additions to `BaseEnvWindow` and `RLEnvWindow` to register
`ManagerLiveVisualizer` UI interfaces for the chosen managers.

## Screenshots
[Screencast from 09-06-2024 01:20:18
PM.webm](https://github.com/user-attachments/assets/3ef0191d-5446-41bd-b274-43d886fb2d70)

## Implementation

![image](https://github.com/user-attachments/assets/49bd5493-3311-4c5c-a87c-6bbcd76a60fe)

## 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 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>
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: zrene <zrene@ethz.ch>
Co-authored-by: James Tigue <jtigue@theaiinstitute.com>
Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Aravind EV <aravindev@live.in>
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: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
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This PR adds observation history by adding configuration parameters to
ObservationTerms and having the ObservationManager handling the
collection and storage of the histories via CircularBuffers.

Fixes #1208 

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

## Type of change

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

- 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

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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Fangzhou Yu <156015326+fyu-bdai@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR adds support for action clip to all mdp/actions. Clip ranges can
be specified as a dictionary of joint names and tuple for the lower and
upper bounds of the clip in the ActionTermCfg.

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

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

# Description

Adds a position threshold check, resolving 3 TODO error comments, to
ensure the robot's end effector is within a specified distance from the
target position before transitioning between states in the pick and lift
state machine. Improves the precision of state transitions and helps
prevent premature actions during object manipulation. I.e, the threshold
ensures the robot is "close enough" to the target position before
proceeding, reducing the likelihood of failed grasps or incorrect
movements.

PR adapted from https://github.com/isaac-sim/IsaacLab/pull/1273/ by
@DorsaRoh.

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

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

# Description


After indexing the size of `quad_w` in the `apply_actions` method is
(N,B,4) where B will always equal 1, since it is enforced in the
`__init__` that only one body name is passed to the action term config.
However, the `euler_xyz_from_quat` method requires inputs to be size
(N,4), and so an error is thrown for input size (N,1,4). This PR just
creates a (N,4) view of quat_w to be passed to `euler_xyz_from_quat`.
This simple change does not introduce any new warnings and works with a
simple non holonomic robot, like the Clearpath Husky.

## 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

---------
Signed-off-by: Kyle Morgenstein <34984693+KyleM73@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

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to check the contribution guidelines.

Link: https://isaac-sim.github.io/IsaacLab/source/refs/contributing.html
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This adds the correct whitespace to load the code block correctly in the
dependency install section of the experimental ray functionality.

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

## Screenshots


![image](https://github.com/user-attachments/assets/5ec71790-32f2-4f1c-b89f-87ce06b88a48)


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## Checklist

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

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Adds Ray Workflow: Multiple Run Support, Distributed Hyperparameter Tuning, and Consistent Setup Across Local/Cloud (#1301)

This PR adds Ray support, which enables a lot of really cool stuff by
leveraging the existing Hydra support, including but not limited to:

- Several training runs at once in parallel or consecutively with
minimal interaction
- Using the same training setup everywhere (on cloud and local) with
minimal overhead
- Tuning hyperparameters
- Tuning hyperparameters in parallel on multiple GPUs and/or multiple
GPU Nodes
- Simultaneously tuning model hyperparameters for different
environments/agents
- Resource Isolation

# Description

Enhance `base_height_l2` function to support rough terrain adjustments:

- Added an optional `sensor_cfg` parameter to allow dynamic target
height
  adjustments based on sensor readings (e.g., RayCaster).
- Updated the function to calculate the L2 squared penalty using
adjusted
  height values for rough terrain scenarios.
- Preserved existing behavior for flat terrain by using the fixed
`target_height`.
- Improved compatibility for applications involving uneven terrain.

Fixes #1524

## 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

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

# Description

Fix configclass dict conversion for torch tensors

Up to v1.2.0 if a configclass would contain a list/tuple of torch
tensors it would be left as is.

\#1227 changed the behavior of converting lists/tuples in a dict, which
means that currently torch tensors are converted to an empty dict,
effectively losing all contained data.

The underlying issue is that `torch.tensor.__dict__` returns an empty
dict, which was (luckily) ignored previously because we did not convert
the contents of lists.

This MR fixes this by treating torch tensors specially. I don't like
having a special case for a non-builtin class but given that
IsaacLab is heavily married with torch tensors I think it's ok in this
case.

Since currently the behavior is different between 1.2 and 1.3: can we
cherry pick this change to the 1.3 branch?

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

# Description

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Currently, ray-saster does not apply transform to the mesh that is cast
against by ray.
As a result, no matter where the mesh is, the ray caster get data as
same as when the mesh is in the pos (0,0,0) with quat (1,0,0,0).

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## Type of change

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

## Screenshots

I use a red cube to mark the position of ray caster sensor, and use
LidarPattern to generate ray for more intuitive visual effects.

Before fixed, when the mesh is in the center with pos=(0.0, 0.0, 0.0),
rot=(1.0, 0.0, 0.0, 0.0), the result will be right.


![screenshot0](https://github.com/user-attachments/assets/b117e12d-ee94-452a-a223-5446f2586c29)

However, if pos=(1.0, -2.0, 0.0), rot=(0.816, 0.577, 0.0, 0.0), it
causes bug as:


![screenshot1](https://github.com/user-attachments/assets/1e3a2d52-201b-43da-ade1-19255b1bcfed)

After fixed, the result will be right:


![screenshot2](https://github.com/user-attachments/assets/76f757c4-fca7-4b2b-89e1-1da21eb4e0cd)

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## Checklist

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

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

# Description

This pull request fix the bug where jacobian returned by
DifferentialInverseKinematicsAction._compute_fame_jacobian are not truly
in robot base frame because it did not consider robot's base rotation.
After the change, _compute_fame_jacobian returns the correct local frame
jacobian. In addition, properties get_jacobian_w and get_jacobian_b is
added to differentiate frame differences

Fixes #911 

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

## Screenshots

<img width="1109" alt="image"
src="https://github.com/user-attachments/assets/5d47dfb3-8c44-4115-b5a0-28c671e99459">

## Checklist

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

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Signed-off-by: Octi Zhang <127588710+zoctipus@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR updates the initial state recorder term to support multi-env use
cases by returning only the states of the specified environment IDs,
which allows the recorder to correctly retrieve and record the correct
initial state for the given environment IDs.

## Type of change

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applicable. -->

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

## Checklist

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

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