# 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`
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- [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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applicable. -->

- 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

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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

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feature works
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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

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

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

# Description

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Previously the velocity limits of the the ActuatorBaseCfg do not get
used in most actuators. Only the DCMotor actuator uses it but it only
uses it for torque-speed limitations.

This PR propagates the velocity_limits of the ActuatorBaseCfg to the
articulation root_physx_view.

Fixes #1384 

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## Type of change

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

## Screenshots

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## Checklist

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

# Description

If a USD contains an articulation root but we load it with a
`RigidObjectCfg` this would also load the articulation. This is
confusing as a user only expects a rigid body.

This PR adds a fix to ignore the articulation if a rigid body is
spawned.

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

## Screenshots

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## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
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---------
Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com>
Signed-off-by: David Hoeller <dhoeller@nvidia.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>

# Description

This MR fixes the support of fish-eye projection type. Actually, I don't
find the proper fisheye type on [Replicator
camera](https://docs.omniverse.nvidia.com/py/replicator/1.9.8/source/extensions/omni.replicator.core/docs/API.html#omni.replicator.core.create.camera)
website (maybe it's out of style).

![Screenshot from 2024-10-31
23-15-24](https://github.com/user-attachments/assets/7f826389-fb9e-474b-a54c-ae3c78e92d8b)

I only check the `cameraProjectionType` in `Raw USD Properties` in
Isaacsim GUI.

![Screenshot from 2024-10-31
23-29-10](https://github.com/user-attachments/assets/f8a39ded-0cb8-4ff4-9235-d3b2e00a92fc)

Fixes #1331

## Type of change

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

## Screenshots

| Before | After |
| ------ | ----- |
| ![Screenshot from 2024-11-02
11-25-57](https://github.com/user-attachments/assets/deb44333-f58e-476d-b167-dd084719adf2)|
![Screenshot from 2024-11-02
11-26-03](https://github.com/user-attachments/assets/a2d6caca-fd1d-4a6d-bc06-b6dff027af98)|

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

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

# Description

This PR adds an option to define the clipping behavior for depth images
generated by `RayCasterCamera` and `Camera`. In addition, it unifies the
clipping behavior for the depth images of all camera implementations.
Per default, all values exceeding the range are clipped to zero for both
`distance_to_image_plane` and `distance_to_camera` depth images. Prev.
`RayCasterCamera` clipped the values to the maximum value of the depth
image, `Camera` did not clip them and had a different behavior for both
types, and `TiledCamera` clipped the values to zero.

Needs PR #617 to be merged

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [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: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Removes tensordict as a dependency in the installation and extensions
for isaac lab since we no longer use it in the codebase.


## 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
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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# Description

When running `./isaaclab.sh --format` for another pull request, I got a
`command not found` error for `pre-commit`. Looking into the script, I
found a condition to check if `pre-commit` was installed, but the syntax
was off.

It was written like this:

```bash
if [ ! command -v pre-commit &>/dev/null ]; then
```

But it should be:

```bash
if ! command -v pre-commit &>/dev/null; then
```

I fixed it, and the script worked as expected, installing `pre-commit`
when I ran it again.

## 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
- [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

This change fixes bugs in `DirectMARLEnv` class, where previously
`_action_noise_model` and `_observation_noise_model` cannot successfully
initialized when the noise-model-cfg passed in.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
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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: zhouhaoran <zhouhaoran@xiaomi.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

`TerminationsCfg` is the same as `LocomotionVelocityRoughEnvCfg`, there
is no need to configure it again, just modify the corresponding name
`self.terminations.base_contact.params["sensor_cfg"].body_names`

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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exists there
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

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This PR adds a new ManagerBasedRLEnv for a three cube stacking task with
a Franka arm.

Docs updated to add new environment type and env tested with
test_environments.py script.

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## Type of change

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

![franka_stack](https://github.com/user-attachments/assets/2f14059c-1117-44f1-87db-c6b5aaab2a11)


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

# Description

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This PR adds a recorder manager (RecorderManager) and relevant utility
classes for recording data produced in various reset and step stages in
manager-based environments.

Wither the built-in recorder manager, users can create custom recorder
terms in their environment configurations with callback functions
returning tensors to be recorded as environments advance. It is
particularly useful for implementing an app that collects human-operated
demos and for those who want to record robot actions for
post-validation/replay in Isaac Lab environments.

The recorder manager works in both single- and multi-environment use
cases. An episode for an environment instance is exported to a dataset
file, via a dataset file handler, upon completion (a termination term is
signaled a reset to the environment instance is triggered).

By default, the recorder manager is inactive (by assigning no recorder
terms in the default configuration), which should have minimal
performance impact for existing apps that do not require data recording.

## Type of change

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

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update -- to be updated in later
PRs

## 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
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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---------
Signed-off-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

The entry_point `RLTaskEnv` doesn't exist

It should be `ManagerBasedRLEnv`

## Type of change

- This change requires a documentation update

## Checklist

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`./isaaclab.sh --format`
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feature works
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extension's `config/extension.toml` file
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Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This change adds warp-lang as a module dependency for omni.isaac.lab. In
certain workflows, the warp module was not being found on
initialization. In addition, missing isaac sim pip modules are now added
to the documentation to make sure all dependencies are installed.

## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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# Description

Due to recent release of Gymnasium 1.0.0, this now becomes the Gymnasium
version that gets installed when running the installation process for
Isaac Lab. Gymnasium 1.0.0 requires all environments to be a subclass of
`gym.Env` when using the `make` interface. This change makes the
`DirectMARLEnv` a subclass of `gym.Env` to satisfy this requirement.

Fixes #1002 

## Type of change

- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)


## 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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## Checklist

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`./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: Michael Gussert <michael@gussert.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Updates code for release 1.3.0

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

# Description

This change fixes bugs in Articulation class `write_joint_limits_to_sim`
method, where previously env_ids and joint_ids were not taken into
account when ids passed in are not None.

## 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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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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# Description

This change adds a new page highlighting the Isaac Lab ecosystem and
relationship with Omniverse and Isaac Sim. It also clarifies the
installation steps with recommendations on when each installation
approach should be used.

## Type of change

- This change requires a documentation update


## Checklist

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# Description

Adds a rigid body collection class, which allows to spawn multiple
objects in each environment and access/modify the quantities with a
unified (env_ids, object_ids) API.

## Type of change

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

## Checklist

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# Description

Adding Isaac Lab Reference Architecture documentation to present an overview of the end-to-end robot learning process with Isaac Lab.

## Checklist

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

# Description

A minor change to automate where the config directory is located.

## Motivation

If user wants to copy these files to their own project, they shouldn't
have to change the paths in the registry.

# Description

Meshes can be generated with Y up-axis and in cm format. Currently,
these meshes would not be rotated or scaled when loading in our stage,
which is Z up and m scale. This PR allows scaling and rotating meshes
during the mesh converter process.

## 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
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feature works
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extension's `config/extension.toml` file
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exists there

# Description

Fixes the default value for the fix base attribute in urdf converter
config

Fixes #1339 


## Type of change

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

## Checklist

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`./isaaclab.sh --format`
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feature works
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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

Improve omni.isaac.lab_tasks loading time

(13th Gen Intel® Core™ i9-13950HX × 32)
* Before: 3.66 seconds
* After: 84 milliseconds

## Screenshots

Original (no changes)
![Screenshot from 2024-10-27
09-32-44](https://github.com/user-attachments/assets/2245d1c3-b0c8-47fc-8bc3-dd09c5e5303d)

Define task entry points as string when registering
![Screenshot from 2024-10-27
18-12-20](https://github.com/user-attachments/assets/574fbddd-cd77-4b78-83ea-99c21dbcb214)

Define task entry points as string when registering + Ignore `mdp`
directories during import.
![Screenshot from 2024-10-28
10-20-00](https://github.com/user-attachments/assets/6fe6744c-ad2c-42fc-b6fa-ae1966281cbb)


## Checklist

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

# Description

Remove TensorDict usage from Isaac Lab

## Type of change

- Breaking change... for those ones using TensorDict specific API such
as `camera.data.output.to_dict()` or `camera.data.output.sorted_keys`

## Screenshots

Before

![Screenshot from 2024-10-30
12-45-06](https://github.com/user-attachments/assets/2dc0e827-3e12-4ae9-849e-e9f75c718157)

After

![Screenshot from 2024-10-30
16-04-35](https://github.com/user-attachments/assets/715b6cb0-9f87-4938-8dbd-5c56203cb90e)

## Checklist

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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
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---------
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

This MR fixes the regression in #1337. The images were located in the
wrong directory. Please be careful.

P.S.: The images are very low in resolution, and they don't support the
dark theme. It would be great to include this as part of this MR to
avoid this issue.

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

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

# Description

Added support to define tuple of floats to scale observation terms by
expanding the `ObservationManagerCfg.scale` attribute.

## 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
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exists there

# Description
resolves: https://github.com/isaac-sim/IsaacLab/issues/1000
resolves: https://github.com/isaac-sim/IsaacLab/issues/1011
depends: https://github.com/isaac-sim/IsaacLab/issues/1006

## Type of change
- New feature (non-breaking change which adds functionality)
- This change may require a documentation update

## Checklist

- [x] 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

# Description

Cache PhysX view's DOF paths before looping when processing fixed
articulation tendons to improve loading time.

For the Shadow Hand task, calling `self.root_physx_view.dof_paths` when
iterating over all joints to find tendons attached (in
`Articulation._process_fixed_tendons` method) is an "expensive"
operation. Timing can be reduced from 2.2 seconds to 300 milliseconds
(13th Gen Intel® Core™ i9-13950HX × 32, RTX 5000) by calling
`self.root_physx_view.dof_paths` once

## Screenshots

Without any change
![Screenshot from 2024-10-28
13-30-07](https://github.com/user-attachments/assets/0bd61f3d-3013-49fb-8540-c08236b974cf)

After cache PhysX view's DOF paths before looping
(`self.root_physx_view.dof_paths` called only once)
![Screenshot from 2024-10-28
13-26-02](https://github.com/user-attachments/assets/6c2af86e-bd21-4b65-9c13-9610e6648e8d)


## 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

Earlier, we were depending on Isaac Sim's for the articulation action
type. The type-hinting for the attributes in there used numpy and list.
However, the Isaac Lab framework uses torch tensors everywhere so this
led to pylance complaining about the types.

The MR makes a drop in replacement with the correct types for our
usecases.

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

- [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

- The purpose of this change is to enhance the robustness of the code by
adding a sanity check to ensure that the command term is of a valid type
before it is processed (Just like ActionTerm). This validation step is
crucial for preventing unexpected errors and maintaining system
stability, especially when dealing with dynamically configured command
terms that may vary based on external inputs or configurations. By
validating the type of the command term, we can provide early feedback
to developers and users, helping to catch misconfigurations or type
mismatches during the initial stages. This change aims to improve the
overall reliability and maintainability of the codebase.

- It also fixes iteration over group_cfg_items inside the observation
manager.

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

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

# Description

Fixes #1287

**Issue details**: When using the convert_mesh.py script to convert .obj
to .usd, if the obj file in this scene starts with a
number(0c334eaabb844eaaad049cbbb2e0a4f2.obj), while the USD API
prohibits names that start with a number
[Link](https://openusd.org/release/api/group__group__tf___string.html#gaa129b294af3f68d01477d430b70d40c8).
This issue is described in more detail here:
[Link](https://forums.developer.nvidia.com/t/cant-create-prims-if-name-starts-with-number/249617).

Also deleted useless debugging output code.

## Type of change

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

## Checklist

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

## Checklist

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

# Description

Fixes the commented out tests in the rigid body test

## Type of change

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

## Checklist

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# Description

- Fixes the image feature extractor in observations
- Adds missing dependencies in setup.py

## Type of change

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

## Checklist

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exists there

# Description
Adding reference flow diagram for manager-based and direct RL task
workflows


<!-- 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

- Documentation Change



## Checklist

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---------
Signed-off-by: OOmotuyi <159472067+OOmotuyi@users.noreply.github.com>

# Description

This adds an observation term to be able to easily extract features from
the images, and adds a cartpole example of using this new term.

The new ResNet18 cartpole converges in less than 100 epochs.

## Type of change

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

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

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

I will update the version in the changelog and extension.toml after
approval prior to merging in due to it causing merge conflicts when main
updates

---------
Signed-off-by: glvov-bdai <glvov@theaiinstitute.com>
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: garylvov <gary.lvov@gmail.com>
Co-authored-by: David Hoeller <dhoeller@nvidia.com>
Co-authored-by: James Smith <142246516+jsmith-bdai@users.noreply.github.com>