# Description

This PR opens the possibility to use dictionary observation for rl-games
application.
This benefits:
1. combination of high + low dim observations percolate into actor and
critic in rl-games
2. avoid double computation if actor and critic share the same
observation


## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Initial Implementation of UR10e Reach Environment for IsaacLab

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

This PR introduces a UR10e robot reach environment for IsaacLab,
enabling reinforcement learning-based end-effector pose control using
keypoint-based rewards and domain randomization.

## Summary

Adds a new UR10e reach environment that trains RL agents to control the
robot's end-effector to reach target poses. Uses manager-based RL
framework with 6D keypoint alignment rewards.

### Key Features:
- **UR10e Robot Configuration**: Asset definition for UE10e
- **Keypoint-based Rewards**: 6D pose alignment using multiple keypoints
for precise control
- **Domain Randomization**: Joint position, stiffness, damping, and
friction randomization

## Type of change

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

## Implementation Details
### Environment Configuration:
- **Observations**: Joint positions, velocities, target pose commands
(19-dim)
- **Actions**: Relative joint position control with 0.0625 scale factor
(6-dim)
- **Rewards**: Keypoint tracking with exponential reward functions
- **Domain Randomization**: Joint offsets (±0.125 rad), stiffness
(0.9-1.1x), damping (0.75-1.5x), friction (0.0-0.1 N⋅m)

### Target Workspace:
- **Position**: Center (0.8875, -0.225, 0.2) ± (0.25, 0.125, 0.1) meters
- **Orientation**: (π, 0, -π/2) ± (π/6, π/6, 2π/3) radians

## 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 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

## Usage Example

```python
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/train.py --task Isaac-Reach-UR10e-v0 --num_envs 1024 --headless
./isaaclab.sh -p scripts/reinforcement_learning/rsl_rl/play.py --task Isaac-Reach-UR10e-v0 --num_envs 1 --checkpoint <path_to_checkpoint>
```
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

This PR adds fixes from LightWheel Labs and additional functionality to
the IsaacLab recorder.

Fixes # (issue)

- Fixes performance issue when recording long episode data by replacing
the use of torch.cat at every timestep with list append.
- Fixes configclass validation when key is not a string

Adds Functionality

- Adds optional episode meta data to HDF5 recorder
- Adds option to record data pre-physics step
- Adds joint target data to episode data. Joint target data can be
optionally recorded by users and replayed to bypass action term
controllers and improve replay determinism.


## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

# Description

Update locomanip task name and link in docs

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

This PR fixes a bug where the platform_height parameter was incorrectly
placed in the MeshPyramidStairsTerrainCfg class instead of the
appropriate base configuration class for mesh terrain objects.

- Removes the misplaced `platform_height` parameter from
`MeshPyramidStairsTerrainCfg`
- Adds the `platform_height` parameter to the correct location in the
`MeshRepeatedObjectsTerrainCfg` class
- Includes various formatting improvements with additional blank lines
for consistency

Fixes #3162

Regression was introduced in MR
https://github.com/isaac-sim/IsaacLab/pull/2695

## Type of change

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

## Checklist

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

Fixes the reach task regression with teleop devices returning the
gripper term

# Description
Fixes the reach task regression with teleop devices returning the
gripper. The reach task expects just the se3 term and not the gripper
term. We add a configuration parameter to the teleop devices which do
not use retargeters to conditional return the gripper term, and update
the reach env cfg to properly configure the teleop devices.
<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

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 #3264 

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

## Type of change

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

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

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

This PR 

1. makes sure(skip if already satisfy, else install) the right torch is
installed before and after pip installing isaaclab packages as
sometime(rare case) due to flaky setup.py and unknown library
dependencies changes pytorch version gets overriden.

2. only install pink and retargeters in linux x86 or amd64 machines


## 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)

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

Link:
https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html
-->
This PR:
- Add task_runner.py to support specifying resources, py_modules, and
pip.

Fixes [# (issue)](https://github.com/isaac-sim/IsaacLab/issues/2632)

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

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: garylvov <67614381+garylvov@users.noreply.github.com>
Co-authored-by: 松翊 <songyi.wb@alibaba-inc.com>
Co-authored-by: garylvov <67614381+garylvov@users.noreply.github.com>

# Description

This PR adds the necessary changes to work with the new version of RSL
RL.

## 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
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------
Signed-off-by: Clemens Schwarke <96480707+ClemensSchwarke@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>

# Description

`GroundPlaneCfg` allows for specifying `visible` parameter, but this
would not being parsed in `spawn_ground_plane`, resulting in the
parameter being a no-op when specified. This change adds a fix to parse
the `visible` parameter from the cfg and sets the visibility attribute
for the ground plane cfg appropriately.

Fixes #3263 

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

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

Updates version of the framework for 2.2.1 patch release.

## Type of change

- This change requires a documentation update

## Checklist

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

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

# Description

There have been two places where the template documentation has been
placed (under Developers Guide and Workthrough), this PR unifies them
into a new structure (see image below).

Furthermore, the imitation learning examples were missing a grouping,
this PR introduces a structure similar to the section about
reinforcement learning

Also some general docs fixes are included.

## Type of change

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

## Screenshots

<img width="588" height="1323" alt="image"
src="https://github.com/user-attachments/assets/a17a6328-a9e3-44cd-a299-6aa62e0e422e"
/>

## 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
- [ ] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Temporary disabled test reporting for PRs created from the forks.

# Description

Fix terrain_out_of_bounds to return tensor instead of bool

Ensure the function always returns a PyTorch tensor (shape [num_envs])
rather than a Python boolean when terrain_type is "plane", preventing
AttributeError in termination_manager.

Before:

```bash
Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/hydra.py", line 101, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/home/ubuntu/workspaces/robot_lab/scripts/reinforcement_learning/rsl_rl/train.py", line 165, in main
    runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
  File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/rsl_rl/runners/on_policy_runner.py", line 206, in learn
    obs, rewards, dones, infos = self.env.step(actions.to(self.env.device))
                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab_rl/isaaclab_rl/rsl_rl/vecenv_wrapper.py", line 176, in step
    obs_dict, rew, terminated, truncated, extras = self.env.step(actions)
                                                   ^^^^^^^^^^^^^^^^^^^^^^
  File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/wrappers/common.py", line 393, in step
    return super().step(action)
           ^^^^^^^^^^^^^^^^^^^^
  File "/home/ubuntu/miniconda3/envs/lab/lib/python3.11/site-packages/gymnasium/core.py", line 327, in step
    return self.env.step(action)
           ^^^^^^^^^^^^^^^^^^^^^
  File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/envs/manager_based_rl_env.py", line 204, in step
    self.reset_buf = self.termination_manager.compute()
                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/ubuntu/workspaces/IsaacLab/source/isaaclab/isaaclab/managers/termination_manager.py", line 172, in compute
    rows = value.nonzero(as_tuple=True)[0]  # indexing is cheaper than boolean advance indexing
           ^^^^^^^^^^^^^
AttributeError: 'bool' object has no attribute 'nonzero'
```

## Type of change

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

## Checklist

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

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

# Description

Feature introduced in #3149 imports pink_ik for isaaclab.controller
module. This is causing an error IsaacLab wide due to pinocchio import.
This PR removes the import.

Fixes # (issue)
Fixed pinocchio import error due to isaaclab.controller module importing
pink_ik by default.

## Type of change

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

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


## 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

The test priniting, sometimes gets super verbose and non-readable when
isaacsim or kit are in bad state.
since we only care about failure test cases and those printing, we can
disable --verbose flag

## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

# Description

We have been hunting down a strange issue in distributed training setups
with rendering enabled, where often the process would hang midway
through training and causes NCCL timeouts. A workaround was discovered
to set `app.execution.debug.forceSerial = true`, which forces serialized
scheduling of omni graph within the same thread. This appears to have
resolved the hanging issue and did not cause performance regressions.

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

Corrected the file path for the list_envs.py script in the
documentation.

Fixes # (issue)

## Type of change

- Fix a typo


## Checklist

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

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

Enhance Pink IK Controller with Null Space Posture Control

This PR improves the Pink IK controller integration for better humanoid
robot control and more natural postures.

**Note**: Original this PR was staged in the internal repo (#547). It
has been moved here due to new Github workflow.


## Key Changes
### New Null Space Posture Task
- Added NullSpacePostureTask to enforce postural constraints on
shoulder/waist joints while prioritizing end-effector tasks
- Maintains natural robot poses during manipulation
### Controller Improvements
- Tuned low level PD controller gains
- Support mixed task types (FrameTask + NullSpacePostureTask)
### Testing & Environment Updates
- Redesigned pink controller test script to use JSON-based
configurations to program test motions.
- Updated all environments (PickPlace, NutPour, ExhaustPipe) with null
space control, damping tasks, and improved tracking
- Added `Isaac-PickPlace-GR1T2-WaistEnabled-Abs-v0` env that is
identical to `Isaac-PickPlace-GR1T2-Abs-v0` but enables the Waist DOFs.
- Added target_eef_link_names mapping for clearer link specification

Fixes # (issue)
These changes help fix the following problems from [VDR
feedback](https://docs.google.com/document/d/1saB1QA5r_WlD1l17q7C04WWNltnBW-K0ydI2UB8jxAs/edit?tab=t.0)
- [Enable Waist DOF](https://nvbugspro.nvidia.com/bug/5235527)
- Discourage elbow flare
- Make controller low-latency and low-jerk. **We improved the unit test
for the pink controller and reduced our position and rotation accuracy
tolerance from 30 mm, 10 degrees to 1 mm, 1 degree.**
- Develop metric for controller performance
- Added a flag to disable failure due to joint limits. Previously, any
commanded pose that ended in joint limit violation would result in no
solution and the controlled robot freezing in place. This change gets
the solver to still provide a solution and instead issue a warning for
joint limit violations.

## Screenshots

These controller changes have been tested through the Mimic pipeline
(teleop_se3_agent.py, record/replay_demos.py). Here are videos showing
teleoperation of all three environments working.

### PickPlace-GR1T2-Abs
![IK Improvements - Pick Place
Wheel](https://github.com/user-attachments/assets/98bd5a70-e5fc-4b5b-954a-848c8dbe85d4)

### NutPour-GR1T2
![IK Improvements -
NutPour](https://github.com/user-attachments/assets/b3603dd4-73cb-4ee7-9963-c68a32dffc60)


### ExhaustPipe-GR1T2
![IK Improvements -
ExhaustPipe](https://github.com/user-attachments/assets/28cd1a4b-29cc-402c-9ec4-7082b2c64d98)


### Successfully Trained Robomimic Model Rollout on PickPlace task
For the two robomimic tasks: `Isaac-PickPlace-GR1T2-Abs-v0` and
`Isaac-NutPour-GR1T2-Pink-IK-Abs-v0`, if we collect a new dataset, we
achieve a success rate of 96 and 92% respectively.
![IK Improvements - GR1T2 Waist Enabled Model Rollout
Trimmed](https://github.com/user-attachments/assets/d270e8a8-ed72-41f3-84ac-bdc2c02d190d)
![IK Improvements - GR1T2 Nut Pour Model Rollout
Trimmed](https://github.com/user-attachments/assets/1434721a-5dce-4b76-845a-6ac1379982f5)


## 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

This PR fixes typo in isaaclab.bat

Should be `!allArgs!` instead of `!allArgs1`

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

If Isaac Lab is installed through pip, tasks generated with the Internal
template cannot be placed inside the site-packages directory of that
installation. Since this setup would never work correctly, it makes no
sense to offer the Internal template as an option. This PR therefore
disables that option entirely whenever Isaac Lab is detected as running
from a pip-installed path.



Fixes # (issue)



## Type of change

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

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

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

Fixes a broken link in the docs to point to the feature/newton branch.

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

Adds a new section in the docs for experimental features.
As the first experimental feature of Isaac Lab, we are also including
instructions for running a feature branch of Isaac lab with Newton. This
change adds in the initial set of documentation for early Newton support
for Isaac lab.

## Checklist

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

---------
Co-authored-by: Gavriel State <gavrielstate@gmail.com>
Co-authored-by: Milad-Rakhsha <miladrakhsha@gmail.com>
Co-authored-by: Milad Rakhsha <mrakhsha@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description
Performance overhead varies based on the profiler backend even when
profiling is not enabled. In limited testing with AR profile enabled,
this yields about 5% improvement in framerate.

Follow up of #3238

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

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

## Type of change

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

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

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] 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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

This change prepares the unit test framework to allow running CI within
the Isaac Sim pipeline to catch issues earlier on in Isaac Sim changes.

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

## Type of change

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


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


## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

In document, add a chart to direct the user which version to pull.

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

Add periodic logs when checking if a USD path exists on a Nucleus
Server.

Improves user experience when the check takes a while, usually because
of no internet connection or the file doesn't exist.

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

## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

In function `isaaclab.envs.mdp.events.randomize_rigid_body_com`, the
random CoM values were sampled with respect to `env_ids`, but when added
to the bodies' current CoMs, `env_ids` is omitted, resulting in
potential shape mismatch error if `len(env_ids) <> env.scene.num_envs`.


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

## Type of change

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

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

## Checklist

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

---------
Signed-off-by: Xinpeng Liu <43176336+Foruck@users.noreply.github.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fixed setting friction coeffecients in the articulation classs

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 #3231

Fixed setting friction coeffecients in the articulation classs

## Type of change

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

## Checklist

- [X] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [X] I have made corresponding changes to the documentation
- [X] My changes generate no new warnings
- [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: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Replace the incorrect env ID `Isaac-Stack-Cube-Franka-Blueprint-v0` with
the correct `Isaac-Stack-Cube-Franka-IK-Rel-Blueprint-v0` on the
environments list page to match what’s registered in code and shown by
`scripts/environments/list_envs.py`.

Fixes https://github.com/isaac-sim/IsaacLab/issues/3207

## Type of change

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

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

## 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
Co-authored-by: louislelay <louislelay@pal-robotics.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>

# Description

Fix MuJoCo link

<img width="1726" height="1220" alt="image"
src="https://github.com/user-attachments/assets/fed03af9-cc0c-4b94-8a8c-42ecd5992f6c"
/>

## Type of change

- This change requires a documentation update

## Checklist

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

# Description

This PR adds stricter interpretation rules to value specified in
sb3_ppo_cfg.yaml, disallowing eval on any dict, which my contain
arbitrary code that makes program vulnerable.

Now, `eval` is got rid of, only str that start with `nn.` can be used to
only import the module from torch.nn. That seems to cover all usage for
lab so far, I can make more accommodations if there are more cases but
it seems like it is currently sufficient.

Fixes # (issue)

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

## Type of change

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

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

## Screenshots

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

# Description

This PR fixes a bug in the observation space construction for
non-concatenated groups in `ManagerBasedRLEnv._configure_gym_env_spaces`
method. Previously, only the last term in each group was included in the
Dict, causing loss of observation information. Now, all terms are
correctly added to the group Dict.

Fixes #3133 

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

## Type of change

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

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


<!--
Example:

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

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

# Description

Adds tests for SensorBase

## Type of change

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

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

Update render preset balanced and performance modes to rtx.indirrectDiffuse.enabled to false (#3240)

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

Update render preset balanced and performance modes to
rtx.indirrectDiffuse.enabled to false, the original value from Isaac Lab
2.1.

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

## Type of change

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

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

Please attach before and after screenshots of the change if applicable.

<!--
Example:

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

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

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

Fix the logic in `joint_effort_out_of_limit()`; this function aims to
detect effort limit violations by comparing the desired (computed)
effort against the applied effort, noting that the simulator clips
applied torque to the limit assign on creation.

Originally, the logic was written such that if the applied and computed
torques are equal, then a violation has occurred. However, this is wrong
as shown by the below example:

```python
from isaaclab.managers import SceneEntityCfg
from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit

env = ...  # any ManagerBasedRLEnv with an Articulation named "robot"
cfg = SceneEntityCfg(name="robot", joint_ids=[0])  # single joint for clarity
art = env.scene["robot"]

# Case A: no clipping (should be False but returns True now)
art.data.computed_torque[:] = 0.0
art.data.applied_torque[:] = 0.0
assert joint_effort_out_of_limit(env, cfg).item() is False  # CURRENT: True (bug)

# Case B: clipping (should be True but returns False now)
art.data.computed_torque[:] = 100.0
art.data.applied_torque[:] = 50.0  # pretend actuator clipped to ±50
assert joint_effort_out_of_limit(env, cfg).item() is True   # CURRENT: False (bug)

```

The solution is hence simply to flip the limit detection logic.

Fixes #3155


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

# Description

We found that performance overhead varies depending on the profiler
backend, even when profiling is not enabled.
For optimization, we changed the default profiler backend to NVTX.
Depending on the test case, we observed a performance improvement of
about 1–12%.

## Type of change

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

## Checklist

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

# Description

A new dependency was picked up by the license checker that has an
UNKNOWN license listed. This change adds the license to the exceptions
list since it has a MIT license and adds an acknowledgement to the
license header.

## Type of change
- This change requires a documentation update

## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

# Description

<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

For some simple cases, disabling rate limit in the runloop can help
improve performance in headless mode.
Follow PR to https://github.com/isaac-sim/IsaacLab/pull/3089, which only
updated it for rendering headless app.
However, this also impacts non-rendering workflows, so adding it to the
default headless app as well.

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

## Type of change

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

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


## Checklist

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

<!--
As you go through the checklist above, you can mark something as done by
putting an x character in it

For example,
- [x] I have done this task
- [ ] I have not done this task
-->

---------
Signed-off-by: matthewtrepte <mtrepte@nvidia.com>

# Description

Experimental branch to generate observations and actions descriptions
from managed environments.

## Type of change

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

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] 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: ooctipus <zhengyuz@nvidia.com>
Co-authored-by: ooctipus <zhengyuz@nvidia.com>