Adds option to define the concatenation dimension in the `ObservationManager` and change counter update in `CommandManager` (#2393)

# Description


Added support for concatenation of observations along different
dimensions in `ObservationManager`.

Updates the position where the command counter is increased to allow
checking for reset environments in the resample call of the
`CommandManager`

## 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`
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- [x] 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
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exists there

---------
Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds option to add terrain border as "wall" above the ground or as
terrain extension below the ground in `TerrainGeneratorCfg`.

## Type of change

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

## Checklist

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feature works
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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>

Changes the quat_box_minus implementation and adds quat_box_plus and rigid_body_twist_transform (#2217)

# Description

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- Changes the quat_box_minus implementation see changes for reference
links
- Adds quat_box_plus and rigid_body_twist_transform methods

# Reason for Change

While using `quat_box_minus` to get angular velocities through finite
differences we encountered that the angular velocity contained some
unreasonably large values at given points along the trajectory. After
some investigation we observed:

- The problem comes from `quat_box_minus` yielding unreasonably large
axis-angle differences at some points (”outliers”) of the trajectory.
- Those “outliers” appear when the real part of the difference
quaternion (`quat_diff = quat_mul(q1, quat_conjugate(q2))`) becomes
negative ($w < 0$).
- This happens even when the inputs are standardized with $w≥0$.

## Type of change

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

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## Checklist

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credit to @alopez-bdai

---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@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 <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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to check the contribution guidelines.

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This PR changes how the camera intrinsic matrix is used to create usd
cameras and updated from usd camera parameters so that if the intrinsic
matrix is accessed in CameraData it will be the same as the intrinsic
matrix used to create the USD camera.

Fixes # (issue)

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## Type of change

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applicable. -->

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

## Screenshots

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## Checklist

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

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This PR give sensors knowledge of dt changing on
scene.update/sensor.update. This does two things:

- This allows for physics update rates to be changed after
initialization so that the contact_sensor correctly fetches the right
data from physics tensors.
- This also removes any issues with IMU calculating the numerical
derivative at time=0 because now it will have an initialized value.

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

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## Checklist

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

# Description

The modifier should get `obs_dims` before modified by history_buffer
initialization, since Modifiers are called before the history buffer.

Fixes #2460

## Type of change

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

## Screenshots

<img width="1594" alt="screenshots2025-05-10 14 19 57"
src="https://github.com/user-attachments/assets/6d1d65e4-3ac4-4842-8a14-5cafb5521045"
/>

## 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
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feature works
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exists there
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

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This test cleans up some of the pytest conversion for
test_contact_sensor that was causing issues in CI.

Fixes # (issue)

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## Checklist

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# Description

Normally the `Articulation` class would search for an articulation root
below `ArticulationCfg.prim_path`. However this fails when multiple
articulation roots are present. This PR allows to explicitly specify an
articulation root prim path with
`ArticulationCfg.articulation_root_prim_path`. If not set it will fall
back to the old search approach.

## Type of change

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applicable. -->

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

## Checklist

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

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

# Description

Occasionally, reports could be missing after a unit test in CI. This
change checks whether a report exists before trying to read it to avoid
errors. Additionally, it adds back the timeout logic similar to previous
testing framework to prevent hanging in tests.

## 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

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# Description

Fixes isaacsim import in the image plot function of the live
visualizers.

## Type of change

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

## Checklist

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# Description

Adds a new how-to guide on things to watch out for for better simulation
performance. There have been a few recent threads on hitting performance
issues due to usages of different collision geometries that can be
watched out for and worked around. This new doc page highlights items to
look out for to achieve better simulation performance.

## Type of change

- This change requires a documentation update

## Checklist

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

Switches our unit testing framework from unittest to pytest to enable
better CI logging and improve developer experience when checking for
test failures.

## Type of change

- 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)

## Checklist

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`./isaaclab.sh --format`
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---------
Co-authored-by: Pascal Roth <roth.pascal@outlook.de>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>

Add missing collision approximation choices

# Description

Add some missing collision approximation options in convert_mesh.py
file. Some collision approximation options were missing in the code, but
the MeshConverterCfg class has them as possible options


https://github.com/isaac-sim/IsaacLab/blob/21173c3e933a9236d6eb5eb2adb903494ba9a418/source/standalone/tools/convert_mesh.py#L60


https://github.com/isaac-sim/IsaacLab/blob/21173c3e933a9236d6eb5eb2adb903494ba9a418/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter_cfg.py#L39-L41

Fixes https://github.com/isaac-sim/IsaacLab/issues/1713#issue-2807158637


## Type of change

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

## Checklist

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---------
Signed-off-by: Virgilio Gomez Lambo <82644963+virgilio96upm@users.noreply.github.com>

# Description

Adding a script that converts URDFs and Meshes to instanceable formatted
usd in batch (recursively searching dir) so that users do not have to do
it one at a time

## Type of change

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

## Checklist

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# Description
This PR adds a serialize method to observation and action manager terms,
so that they can be stored alongside a trained policy for later
introspection.

Fixes # (issue)

## Type of change

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applicable. -->

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

## Checklist

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# Description


Fixes #2149 


## Type of change

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

## Screenshots


Before:

![docker_name_suffix_before](https://github.com/user-attachments/assets/bc88b41f-69ec-434e-9f81-0189f7b90112)

After:

![docker_name_suffix_after3](https://github.com/user-attachments/assets/4b2866a4-ef3d-4e05-8e27-d9ceae67831a)



## Checklist

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

## Comments

I couldn't find any tests for the docker container building, so I'm not
sure where to add some. I'm happy to do so, and can add tests for some
of the other docker building parameters if desired. I have tested
locally for base and ros2 docker profiles with and without the new
suffix parameter. The default setting is an empty string for the suffix,
so it should be a non breaking change and most users will not notice it
being there. I did not touch the cluster docker environment deployment
since I do not have a cluster to test it with, so this new optional
parameter should not be used in the cluster deployment case.

I noticed that there was some redundant docker image building if the
profile is `base`, so I added a check to only build base explicitly if
the docker profile is not base, since the ros2 profile needs base built
in order to build upon it, which is what I assume the explicit base
building is there for.

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

# Description

Added optimizations to the yaw_quat function and added a function to
test_math to make sure it works as intended.

**BENCHMARKS:**

Device: `cpu`

```
Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
math_utils.yaw_quat(q_rand)  `511.79 us`
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f9720>
iter_yaw_quat(q_rand)  `2.18 ms`
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8640>
iter_old_yaw_quat(q_rand)  `2.36 ms`
1 measurement, 1000 runs , 1 thread
```

---

Device: `cuda:0`

```
Time for yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
math_utils.yaw_quat(q_rand)  `246.16 us`
1 measurement, 1000 runs , 1 thread

Time for iter_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8100>
iter_yaw_quat(q_rand)  `2.97 ms`
1 measurement, 1000 runs , 1 thread

Time for iter_old_yaw_quat: <torch.utils.benchmark.utils.common.Measurement object at 0x7a342d1f8730>
iter_old_yaw_quat(q_rand)  `3.46 ms`
1 measurement, 1000 runs , 1 thread
```

## Type of change

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

## Checklist

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

This pull request fixes a bug where `_step_reward` could retain stale
values when a reward term's weight was dynamically changed back to zero.
Previously, when a reward term had zero weight, the computation skipped
updating `_step_reward`, assuming that it would stay correct.
However, if the weight was first changed from zero to nonzero and then
back to zero during runtime (e.g., in curriculum settings), stale
nonzero values could persist, causing incorrect reward visualizations or
logging.

This change explicitly sets `reward_manager._step_reward` to zero when a
reward term has zero weight, ensuring correctness regardless of dynamic
weight changes.

Fixes #2391 

No new dependencies are introduced by this change.

## 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

_Not applicable._

## Checklist

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# Description

Fixes a minor typo in rsl_rl `rl_cfg` docstrings.

**Before**
```
normalize_advantage_per_mini_batch: bool = False
"""Whether to normalize the advantage per mini-batch. Default is False.

If True, the advantage is normalized over the entire collected trajectories.
Otherwise, the advantage is normalized over the mini-batches only.
"""
```
**After**
```
normalize_advantage_per_mini_batch: bool = False
"""Whether to normalize the advantage per mini-batch. Default is False.

If True, the advantage is normalized over the mini-batches only.
Otherwise, the advantage is normalized over the entire collected trajectories.
"""
```


## Type of change

- This change requires a documentation update

## Checklist

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# Description

The step() function of ray/tuner.py has some issues preventing one from
having an uninterrupted ray hyperparameter tuning session. Please refer
to #2328 for details.

Fixes #2328.

## Type of change

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

## Checklist

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

# Description

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The check
[here](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/utils.py#L260):
the
[RigidBodyMaterialCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/materials/physics_materials_cfg.py#L30)
used by
[GroundPlaneCfg](https://github.com/isaac-sim/IsaacLab/blob/2e6946afb9b26f6949d4b1fd0a00e9f4ef733fcc/source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py#L158)
lacks a semantic_tags attribute. So the semantic_tags will not set to
the ground correctly, then the semantic_segmentation_mapping can not
been correctly mapped.

Fixes # (issue)

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Ground didn't been mapping correctly.
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| ![Screenshot 2025-04-29 at 17 57
24](https://github.com/user-attachments/assets/4ef18c5f-8587-4ed0-9890-c7dfaae30675)|
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## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: YunLiu <55491388+KumoLiu@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes incorrect batch size for
Isaac-Repose-Cube-Shadow-OpenAI-FF-Direct-v0

## Type of change

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applicable. -->

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


## Checklist

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

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This PR adds in a joint_effort observation that exposes the
`articulation.data.applied_effort`

Fixes # (issue)

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## Checklist

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`./isaaclab.sh --format`
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feature works
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
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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This PR exposes the physics tensor view of the joint reaction wrenches. 

Fixes #[2127](https://github.com/isaac-sim/IsaacLab/issues/2127)
[1566](https://github.com/isaac-sim/IsaacLab/issues/1566)

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## Checklist

- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [ ] My changes generate no new warnings
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---------
Signed-off-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Use `--gpus all` instead of `nvidia: runtime` to prevent issues on
unknown or invalid runtime name when running with docker or docker
compose (python script).

Fixes #2390 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- 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`
- [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 <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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This PR add body_pose_w and body_projected_gravity_b observation methods

Fixes # (issue)

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## Checklist

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

Fixes failing tests in test_environments and test_pink_ik.

## 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`
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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
- [ ] I have updated the changelog and the corresponding version in the
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---------
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

# Description

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I just add moving to cpu before casting to numpy. If it's already on cpu
then the change is armless.

Fixes #2175 

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

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

# Description

Fixed `return_latest_camera_pose` option in `TiledCameraCfg` from not
being used to the argument `update_latest_camera_pose` in `CameraCfg`
with application in both `Camera` and `TiledCamera`.

## Type of change

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

## Checklist

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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
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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In the event manager, class based event terms are not registered
properly due to a missing type() call. On [line 387
](https://github.com/isaac-sim/IsaacLab/blob/7de6d6fef9424c95fc68dc767af67ffbe0da6832/source/isaaclab/isaaclab/managers/event_manager.py#L387)of
event_manager.py, the check should be

            if isinstance(term_cfg.func, type(ManagerTermBase)):
otherwise, isinstance always returns false (since ManagerTermBase is an
abstract base class, the isintance method will check that term_cfg.func
is derived from ABC, and not ManagerTermBase). Adding
type(ManagerTermBase) resolves the issue.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2342

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## Type of change

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

## Screenshots

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## Checklist

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`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
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feature works
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---------
Signed-off-by: Miguel Alonso Jr. <76960110+miguelalonsojr@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Miguel Alonso Jr. <miguel.alonso@nfinite.app>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds release notes to the docs for the 2.1.0 release.

## Type of change

- This change requires a documentation update

## Checklist

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

Adds licenses folder to docker container. previously it was included as
part of .dockerignore and not copied into the container.

## Checklist

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

Adds license files for additional 3rd party OSS dependencies added to
Isaac Lab.

## Checklist

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`./isaaclab.sh --format`
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# 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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applicable. -->

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


## Checklist

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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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`./isaaclab.sh --format`

---------
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

## Checklist

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`./isaaclab.sh --format`
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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

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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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

- This change requires a documentation update

## Screenshots

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# Description

Updating CloudXR doc with stronger requirements and bimanual teleop gif

## Type of change

- Documentation

## Checklist

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