# Description

Removes quadprog from docker container due to licensing issues. This is
a workaround since it gets pulled from pin-pink, but we do not need to
use the package for anything.


## Type of change

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


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# Description

Remove qpsolvers direct usage and replace quadprog solver with osqp.

## Type of change

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

## Checklist

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---------
Co-authored-by: Peter Du <peterd@nvidia.com>

# Description

Moves the quick start guide to before installation pages in the docs.

## Type of change

- This change requires a documentation update

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# Description

Updates render mode presets to:

- better align balanced modes with current settings
- incorporate feedback from rendering team regarding use of
denoisingTechnique should always be 0 and avoid setting
upperLowerStrategy when RR is enabled

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

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# Description

Bumps version to 2.1.0

## Type of change

- This change requires a documentation update

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# Description

Documentation only update to indicate which environments require running
with the `--enable_cameras` flag.

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## Type of change

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# Description

Updating CloudXR doc with stronger requirements and bimanual teleop gif

## Type of change

- Documentation

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# Description

Updates environment table with enable_cameras to specify explicitly
which environments require running with `--enable_cameras`.

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# Description

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Update the Mimic doc by dividing the GR1 collection/annotation steps
into subsections to clarify that they are different steps.

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# Description

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1. Updates the Mimic docs and adds a diagram to show correct annotation
for the GR1 pick place task.
2. Move the pick place task gif so that users can reference it when
collecting demos.

## Type of change

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`./isaaclab.sh --format`
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

This PR adds a quickstart guide and various references to the setup
instructions for Isaac Lab

## Checklist

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

# Description

Fixes docstring description of dictionary example for CameraCfg
semantic_segmentation_mapping to properly format dictionary in
documentation.

Fixes # (issue)

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## Type of change

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- This change requires a documentation update


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# Description

Fixes the wrist rotation option in se3_abs_retargeter 

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# Description

Although the current docker command still works for headless rendering,
it sometimes generates an error message from carbonite. This change adds
an option to enable X11 forwarding when using the prebuilt docker image,
which fixes the error.

## Type of change

- This change requires a documentation update

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# Description

Saves a checkpoint file on the first iteration of the feature extractor
so that a checkpoint is available if inferencing early on in the
training process. Previously, we had to wait until 50k steps for the
checkpoint to be saved.

## Type of change

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


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# Description

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Added in a detail for selecting the Rendering Mode from the CLI
argument.

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# Description

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Adds an "idle_action" parameter to the GR1 pick-place env. The
replay_demo script is also updated to check if envs have an idle action
pre-defined in its config and uses it if present. If not present, the
replay script will continue to use a zero tensor for idle actions.

This fixes errors during demo replay if an env doesn't support a zero
action tensor.

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# Description

Adds note regarding memory requirement for rendering as workflows
requiring rendering will need more VRAM available in the system.

## Type of change

- This change requires a documentation update

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# Description

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This change extracts the success term from the env and uses it to check
for policy success in the Robomimic play script.

Fixes # (issue)

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Previously the script used the termination condition as a check for
success. However, if other termination terms are added to an env that
reset the env without a success occuring, then that would cause false
positives. The script now explicitly uses the "success" termination
event to fix this.

## Type of change

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


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# Description

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Update a rendering mode preset setting
`rtx.domeLight.upperLowerStrategy` as recommended by the rendering team.


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This enhancement introduces a dynamic text instruction widget that
provides real-time feedback on the number of successful recordings
during demonstration sessions.

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

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exists there

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

# Description

The roll link parents the pitch link, so in the current configuration,
the controller is not able to control the pitch link. By targeting the
pitch link, the entire wrist can be controlled.

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

## Checklist

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# Description

Add doc note for warnings regarding assets that can be safely ignored.

## Type of change

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

## Checklist

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---------
Co-authored-by: Peter Du <peterd@nvidia.com>

Reverts isaac-sim/IsaacLab-Internal#344

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This change adds a patch in AppLauncher to override the Matrix4d
constructor to convert it's arguments into a list of floats for
compatibility with Pinocchio 2.7.0. This serves as a workaround until
Isaac Sim is patched with the fix in a later release.

The conda installation of Pinocchio 3.4.0 has been removed now that this
solution enables support for Pinocchio 2.7.0.

The corresponding documentation has also been updated now that this
workaround is in place. This includes:
1. Removing the note in Issac lab Mimic docs informing users of the
error
2. Restoring the Isaac Lab pip installation docs to original state (not
using environment.yml to create the conda env)

Fixes # (issue)

Fixes error when running XR teleop with Pinocchio 2.7.0

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- This change requires a documentation update

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If the launcher argument `enable_cameras` is not selected, then change
the default rendering mode behavior to just use the default kit
rendering settings.

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

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

## Checklist

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

This PR adds a XR near plane config

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

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# Description

Update Teleop and Imitation Learning docs to use Abs task for XR.

## Type of change

- Documentation

## Checklist

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# Description
Don't query for headpose until https://nvbugspro.nvidia.com/bug/5173837
is fixed
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Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Fixes # (issue)

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## Type of change

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

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Update Isaac Lab pip installation docs to use the included
environment.yml when creating conda env.
This installs all required conda deps for users when using Isaac Sim pip
install method to install Isaac Lab

## Type of change

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- Documentation update

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# Description

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1. Adds a warning that XR TypeError seen during Isaac Sim bootup can be
ignored and will be fixed in the next released patch of Isaac Sim.
2. Clean up Mimic docs by changing "note" tabs to "tips" and "important"
tabs where appropriate

## Type of change

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- Documentation update

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## Checklist

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---------
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

Small refactor to add headpose to the openxr device

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

# Description

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Move omni log import after app launcher in record demos script to fix
"No module named omni.log" error

## Type of change

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applicable. -->

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


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# Description

A typo was in the environment.yml file for conda installation. Fixing
the typo here to avoid installation issues.

## Type of change

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


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# Description

Update CloudXR docker run command to use a mount rather than a volume.

## Type of change

- Documentation

## Checklist

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`./isaaclab.sh --format`
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feature works (NOTE: test added to cloudxr docker repo)
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exists there

# Description

The following bugs in Mimic are fixed:

1. Annotation script would hang during startup unless the Isaac Sim
window was clicked on when playing visuomotor env. Fixed by removing
unneccessary env full sim reset prior to reset during startup.
2. Add instructions to docs on where to modify docker compose file to
mount spacemouse.
3. Add to docs the command to run demo replay for GR1 env. 
4. Fix "Pink controller frametask" hyperlink in docs. 

## Type of change

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

## Checklist

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# Description

Adds instructions for manipulating H1 humanoid demo and fixes some
documentation issues in changelog.

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1. Move gr1mimc envs to a seperate directory and init file in order
prevent import pinocchio dependency
2. Install pinocchio 3.4.0 using conda as a fix for
https://nvbugs/5173837.
3. Sets the usdtourdf converter logger level to error
4. Add cfg parameter to `PinkIKControllerCfg` to toggle if IK solver
solution not found warnings are shown.

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

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`./isaaclab.sh --format`
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---------
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Modifies the title of the deployment section in the documentation to
include mention of sim2real.

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## Type of change

- This change requires a documentation update

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