Add consolidated demo script for showcasing recording and mimic dataset generation in real-time in one simulation script (#189)

This PR adds `consolidated_demo.py` script that runs teleop-recording
and real-time mimic dataset generation in the same simulation with
multi-env to showcase the mimic workflow in one script.

It includes changes and fixes needed to enable recording and running
mimic at the same time under multi-env setting.

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

# Description

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Adding a section on how to create a Mimic compatible env to the Isaac
Lab Mimic docs.

Fixes # (issue)

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## Type of change

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- Documentation change


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## Checklist

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

# Description

Updates Isaac Sim imports for Isaac Sim 4.5

Initial version of Isaac Lab Mimic, based on the MimicGen paper and
code: https://mimicgen.github.io/.
The MimicGen workflow is useful for generating additional trajectories
for Imitation Learning, allowing training from a minimal set of
human-generated trajectories.

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

- [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
- [x] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Karsten Patzwaldt <kpatzwaldt@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR renames conda and venv Python environment to `env_isaaclab`
Why? Following installation steps on Windows raise the following issue
because for Windows `isaaclab` (Python env) and `IsaacLab` (the repo) is
the same name. Also, this is more coherent with Isaac Sim's Python
environment names
(https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_python.html#installation-using-pip)


```
C:\Users\horde\Documents>dir
 Directory of C:\Users\horde\Documents

12/16/2024  02:50 PM    <DIR>          .
12/16/2024  02:50 PM    <DIR>          ..
12/13/2024  07:41 AM    <DIR>          isaaclab
               0 File(s)              0 bytes
               3 Dir(s)  172,079,185,920 bytes free

C:\Users\horde\Documents>git clone https://github.com/isaac-sim/IsaacLab.git
fatal: destination path 'IsaacLab' already exists and is not an empty directory.
```

# Description

This PR cleans up settings applied in the app files and aligns them with
settings in Isaac Sim 4.5. In addition, new livestream versions and
documentation are updated to reflected changes in Isaac Sim 4.5.

## 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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Fixes an issue where when a zero value wrench is input to the
`set_external_force_and_torque` function, the force and torque buffer
arrays are not properly updated. Also added unit tests.

Fixes https://github.com/isaac-sim/IsaacLab/issues/262

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

Update PIP install steps for Isaac Sim 4.5.0

Updates the URDF and MJCF importers for Isaac Sim 4.5.

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

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

# Description

This change updates the default render settings for better quality at
slightly lower performance.
It is recommended to use per-camera resolution of at least 100x100, this
change also updates the current Cartpole
camera environments to use 100x100 resolution.

## Type of change

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applicable. -->

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


## Checklist

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`./isaaclab.sh --format`
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- Add configuration option to zero out rotation around the x/y axes.
- Introduce smoothing and thresholding for position and rotation deltas
to reduce jitter.
- Switch position reference to the wrist joint pose for more stable
relative-based positioning.
- Make rotation reference configurable, allowing the use of wrist-based
orientation instead of fingertip averaging.

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- [ ] 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
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---------
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 PR fixes a few of the environment wrapper tests that were
previously hanging on exit, causing timeout failures. In addition, URDF
and MJCF importer tests have been disabled for now until we update the
importer wrappers to support the latest changes in Isaac Sim 4.5.

## 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

This change removes cameras from the stacking environment due to
conflicts with XR teleop. The stacking environment currently does not
require cameras.

* Remove wrist and table cameras
* Add "isaaclab.python.rendering" = {} in
source/apps/isaaclab.python.xr.openxr.kit

## Type of change

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


## Checklist

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

Previously, small resolution renders that used DLSS for antialiasing
would sometimes display frame offset issues where the rendered frame is
not in sync with the current frame. To workaround this issue, we forced
the antialiasing mode to DLAA for small resolutions in both the Camera
and TiledCamra classes.

With recent changes in Isaac Sim 4.5, the frame offset issue no longer
appears, so this PR removes the workaround we've put in to avoid this
problem.

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applicable. -->

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

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This PR adds a new `wait_for_textures` option in DirectRLEnv and
ManagerBasedEnv cfg classes to wait for texture loading to complete
before proceeding with rendering. Previously, textures may continue to
load while the environment is running, resulting in renders with
incomplete textures.

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

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exists there

This change will allow generation of multiple Isaac Lab images based on
different versions of Isaac Sim images. Previously, only a single image
can be created.

Created a standalone script that can train all our environments and
publish their checkpoints to a Nucleus server. The play.py scripts were
modified to add a --use_pretrained_checkpoint flag. This downloads and
caches the pre-trained checkpoint to a .pretrained_checkpoints
directory.

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

In Isaac Sim 4.5, extensions in Isaac Sim have been renamed. In most
cases, the `omni.isaac.*` naming convention has been replaced by
`isaacsim.*`. View classes in Isaac Sim are also renamed: e.g.
`XFormPrimView` --> `XFormPrim`, and `XFormPrim` --> `SingleXFormPrim`.
This PR updates Isaac Lab files that imports Isaac Sim extensions to
follow the new naming of Isaac Sim modules.

This will be a breaking change that breaks backwards compatibility with
previous Isaac Sim versions.

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description

Adds new denoiser optimization flags for rendering to the rendering app
files. These settings will turn off denoising by default, which helps
improve performance when rendering.

## 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
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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- [ ] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>

# Description
Updates torch to 2.5.1

This change fixes various issues with the unit tests due to updates in
Isaac Sim and Kit builds. Notably, some extensions were renamed for the
URDF and MJCF importers, including minor modifications of available
parameters for the importers. The SimulationContext context will also
now terminate the process on exit due to the simulation stop callback
being triggered. We now bypass the callback for the unit tests.

<!-- As you go through the list, delete the ones that are not
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- Bug fix (non-breaking change which fixes an issue)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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This change applies a new `create_new_stage` setting in Isaac Sim's
SimulationApp to avoid creating a default new stage on startup, which
introduces additional performance overhead.
Also fixes an error in hydra code when rebasing.

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

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

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

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Update robomimic training and play scripts.

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

- Added the SE3_HandTracking input device which allows for XR teleop via
the SE3 interface.
- Updated the teleop_se3_agent to support hand tracking via the
`--teleop_device handtracking` flag
- Created a new .kit file `isaaclab.python.xr.openxr.kit` for supporting
teleop experiances

- 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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- [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: peterd-NV <peterd@nvidia.com>
Co-authored-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

# Description

Updates the benchmark scripts with new additional output format that can
be used for tracking results on a dashboard.

## 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

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# Description

Fixes errors related to import of omni.isaac.ui and debug_draw
extensions due to Isaac Sim 4.5 renaming/restructuring.

## Type of change

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applicable. -->

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

## Checklist

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feature works
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Update the Franka Stacking Env to align with Robosuite stacking task
used in MimicGen.

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---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: oahmednv <oahmed@Nvidia.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

This change updates the benchmarking utilities to follow new module
naming for Isaac Sim 4.5. In addition, hydra support is added for the
benchmark scripts to allow modifications of config parameters via
command line. Hydra config parsing utilities are updated to allow for
missing agent configurations when benchmarking non-RL workflows.

<!-- 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)

- [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 fix the `ModuleNotFoundError: No module named
'omni.isaac.version'` for Isaac Sim 4.5

When running `./isaaclab.sh -p
source/standalone/workflows/rsl_rl/train.py --task
Isaac-Cartpole-Direct-v0 --headless --max_iteration 5`

```
Traceback (most recent call last):
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 54, in <module>
    from omni.isaac.lab.envs import (
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/__init__.py", line 45, in <module>
    from . import mdp, ui
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/__init__.py", line 18, in <module>
    from .actions import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/__init__.py", line 8, in <module>
    from .actions_cfg import *
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/actions/actions_cfg.py", line 9, in <module>
    from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/__init__.py", line 13, in <module>
    from .action_manager import ActionManager, ActionTerm
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/managers/action_manager.py", line 20, in <module>
    from omni.isaac.lab.assets import AssetBase
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/__init__.py", line 41, in <module>
    from .articulation import Articulation, ArticulationCfg, ArticulationData
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/__init__.py", line 8, in <module>
    from .articulation import Articulation
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/assets/articulation/articulation.py", line 22, in <module>
    import omni.isaac.lab.sim as sim_utils
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/__init__.py", line 29, in <module>
    from .converters import *  # noqa: F401, F403
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/__init__.py", line 25, in <module>
    from .urdf_converter import UrdfConverter
  File "/home/toni/Documents/RL/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/urdf_converter.py", line 13, in <module>
    from omni.isaac.version import get_version
ModuleNotFoundError: No module named 'omni.isaac.version'

```
## Type of change

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applicable. -->

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

## Checklist

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feature works
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extension's `config/extension.toml` file
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Adds the deprecated extension folder to the app files for the extensions
to be discoverable.

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

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

Adding a manager based RL env for Franka cube stacking task. This
environment will be used for initial testing of MimicGen pipeline. The
environment consists of a Franka arm with three blocks on a table top.

Environment source is added to
`omni/isaac/lab_tasks/manager_based/manipulation/stack`

---------
Signed-off-by: peterd-NV <peterd@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>

# Description

Previously on episodic resets, the "time left" for the interval events
were not getting resampled. This means that if the user expects the
event to happen in the range 6-8s of an episode, it could be that in a
new episode, the push happens at a time outside this range as the time
left variable keeps its old value.

This MR fixes this issue by resampling the time left inside the
manager's reset call.

Note: This only matters for the case when "is_global_time" is False
(which is the default). The reason is that when there is global time,
the events are triggered through simulation time and not episode time.

## 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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- [ ] 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
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exists there

# Description
This PR cleans up the Ray documentation to be more clear, and fixes some
small issues in the code.

- Moved local set up to be an easier Docker-based thing
- Added Wget to docker container to fix issue where Ray head would fail
health check on GKE where the workers wouldn't start
- Removed redundant information from Documentation
- Added a local quickstart
- (investigated whether https mlflow was possible, added flag to jinja
env)@kellyguo11
- Added better compatibility with other workflows to address #1703 
- Avoided early exit due to buffer overflow to address #1703 (thank you
@giulioturrisi for helping find this)
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## Type of change

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applicable. -->

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


![image](https://github.com/user-attachments/assets/eb38b3c8-8e9c-438d-9218-8b0662146f96)


## Checklist

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feature works
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---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: Gary Lvov <glvov@theaiinstitute.com>

# Description

Corrected calculation of target height adjustment based on sensor data.

Fixes #1546 and #1698

Thanks to @ClemensSchwarke and @shendredm for the modification
suggestions. To use this `base_height_l2` reward function, users need to
make the following changes:

1. Customize a new sensor

```python
class MySceneCfg(InteractiveSceneCfg):
    height_scanner_base = RayCasterCfg(
        prim_path="{ENV_REGEX_NS}/Robot/base",
        offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)),
        attach_yaw_only=True,
        pattern_cfg=patterns.GridPatternCfg(resolution=0.05, size=(0.1, 0.1)),
        debug_vis=False,
        mesh_prim_paths=["/World/ground"],
    )
```

2. Pass this new sensor to the reward function

```python
class RewardsCfg:
    base_height_l2 = RewTerm(
        func=mdp.base_height_l2,
        weight=0.0,
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=""),
            "sensor_cfg": SceneEntityCfg("height_scanner_base"),
            "target_height": 0.0,
        },
    )
```

This will create a 10 by 10 cm patch consisting of 9 rays and should
provide a good estimate of the ground height at the robot's position.

## 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

…ection root and base states

# Description

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This PR removes the deprecation of root_state_w setters and properties
due to significant regression in training speed. It leaves it the
root_link_* and root_com_* properties and setters but does not force
them on examples and tests.

Fixes #1699 

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## Type of change

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

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## Checklist

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

# Description

Currently, the
[`repeated_objects_terrain`](https://github.com/isaac-sim/IsaacLab/blob/v1.4.0/source/extensions/omni.isaac.lab/omni/isaac/lab/terrains/trimesh/mesh_terrains.py#L721)
function attempts to respawn all *N* required objects if even a single
object lies within the central platform. However, the probability of
successfully spawning *all objects* outside the central platform depends
on the object density (i.e., the number of required objects relative to
the terrain size) and the size of the central platform. For high object
densities, this probability quickly approaches zero, causing the
function to enter an infinite respawn loop.

This PR addresses the issue by respawning only the objects that lie
within the central platform during each loop, while leaving objects
outside the platform untouched. This leads to faster terrain generation
and prevents the worst-case scenario of getting stuck in an infinite
respawn loop when object density is high.

## Type of change

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applicable. -->

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


## Checklist

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feature works
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---------
Signed-off-by: Nicola Loi <nicolaloi@outlook.com>

# Description

Adds a new documentation page and demo script for explaining the IMU
sensor.
Also replace previous .png images with .jpg files for better storage
efficiency.

## Type of change

- This change requires a documentation update


## Checklist

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---------
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: James Tigue <166445701+jtigue-bdai@users.noreply.github.com>

# Description

This change replaces some of the hardcoded python snippets in the sensor
documentation to reference directly from the demo scripts. This avoids
inconsistencies when changes in the scripts or documentations are made.


## Type of change

- This change requires a documentation update

## Checklist

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