# Description

This PR adds the tutorial for Modifying an existing Direct RL
Environment.

## Type of change

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- This change requires a documentation update

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Adds Shadow Hand environment with vision and proprioception
observations. Image observations are used to train a CNN with RGB,
depth, and segmentation images, regressing on keypoint states that are
then combined with proprioception observations to be fed into an
asymmetric actor-critic policy.

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

![image](https://github.com/user-attachments/assets/d67c966b-2931-4ee4-84d1-8bc004471a21)

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# Description

This fix removes the limitations of tiled rendering, allowing for
non-square resolutions and non-perfect square number of
tiles/environments. In addition, for small resolutions (width or height
<265), DLAA denoiser is used by default as a workaround to avoid frame
offset issues. An additional `rerender_on_reset` flag is added to the
environment configs to allow for an extra `render` call in reset APIs to
make sure sensor observations are updated after reset.

## 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

# Description

This PR removes the `rsl_rl` agent configs from multi-agent tasks so
avoid the following known issue:

```
Error executing job with overrides: []
Traceback (most recent call last):
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/hydra.py", line 91, in hydra_main
    func(env_cfg, agent_cfg, *args, **kwargs)
  File "/home/horde/IsaacLab-Internal/source/standalone/workflows/rsl_rl/train.py", line 117, in main
    runner = OnPolicyRunner(env, agent_cfg.to_dict(), log_dir=log_dir, device=agent_cfg.device)
  File "/home/horde/miniconda/envs/isaaclab/lib/python3.10/site-packages/rsl_rl/runners/on_policy_runner.py", line 29, in __init__
    obs, extras = self.env.get_observations()
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/utils/wrappers/rsl_rl/vecenv_wrapper.py", line 145, in get_observations
    obs_dict = self.unwrapped._get_observations()
  File "/home/horde/IsaacLab-Internal/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/direct_rl_env.py", line 580, in _get_observations
    raise NotImplementedError(f"Please implement the '_get_observations' method for {self.__class__.__name__}.")
NotImplementedError: Please implement the '_get_observations' method for Env.
```

## Type of change

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

## Checklist

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

Before, the target cube position in the teleop_se3_agent example was
being reset every 5 seconds.
Now, it is only modified when the cube reaches the target.

## Type of change

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

## Checklist

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

Improves policy behavior for training Franka Cabinet direct environment
and Repose Cube Allegro direct environments.

## Type of change

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

## Checklist

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# Description

This change switches to the newly added replicator API for tiled
rendering. All tiled rendering behaviors are the same as before. The API
provides a cleaner interface to initialize tiled rendering.

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

## Checklist

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

# Description
Adds thumbnails of environments in benchmarking table

# Description

On Windows, the latest onnx version 1.16.2 causes Access Violation
errors with pytorch. To avoid the error, we force Isaac Lab to use onnx
version 1.16.1

## Type of change

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applicable. -->

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


## Checklist

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# Description

This PR adds the shadow hand over multi-agent direct-workflow task
(`Isaac-Shadow-Hand-Over-Direct-v0`)

## Type of change

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applicable. -->

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

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---------
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

This PR adds the cart double pendulum multi-agent direct-workflow task
(`Isaac-Cart-Double-Pendulum-Direct-v0`)

- 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`
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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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---------
Signed-off-by: Toni-SM <toni.semu@gmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Adds a new table in the environments doc page to include all valid task
names, inference task names, workflow type, and supported RL libraries.

# Description

Due to large Isaac Sim pip packages, pip installation is only possible
with the latest pip version 24. This MR adds a note in the pip
installation documentation to update pip to the latest version.

## Type of change

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applicable. -->

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


## Checklist

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This change updates the current tiled rendering APIs to use the full RTX
tiled rendering feature, allowing for higher quality RGB renders and
support of additional annotators, including semantic segmentation,
instance segmentation, normals, and motion vectors.

This change also aligns output dimensions across TiledCamera, Camera,
and RayCasterCamera classes. All single-channel outputs will now have
dimension (H, W, C). Camera class now outputs RGB data with shape (H, W,
3).

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

- 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

Fixes issue https://github.com/isaac-sim/IsaacLab/issues/775

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

This change restructures documentation to add a new Overview section
that combines previous pages around learning workflows, environment
design, and developer guides.

New pages are added for RL library comparison and training performance
benchmarking.

<!-- 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)
- This change requires a documentation update

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`./isaaclab.sh --format`
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extension's `config/extension.toml` file
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# Description

Fixes benchmarking scripts to handle new config parsing and distributed
settings

## Type of change

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applicable. -->

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

## Checklist

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Updates torch to version 2.4.0

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applicable. -->

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

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>
Co-authored-by: Toni-SM <aserranomuno@nvidia.com>

Co-authored-by: Alexander Poddubny <apoddubny@nvidia.com>

This PR adds the interface and configuration for creating multi-agent
tasks using the direct workflow.

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applicable. -->

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

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# Description

- Adds a new script to run benchmark without RL in the loop
- Adds a new script to run benchmark with RL Games
- Adds a new script to run benchmark with RSL RL

## Type of change

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

## Checklist

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---------
Co-authored-by: Alexander <143108850+nv-apoddubny@users.noreply.github.com>

# Description

Adds test to check that different image sizes are respected by the
camera implementation.

Fixes #165

## Type of change

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

## Checklist

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# Description

This MR allows users to customize the visualization markers for the MDP
command terms. It puts them in the command term configuration file
instead of hard-coding them into the code.

## Type of change

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

## Checklist

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# Description

The previous implementation in ANYmal-C environment randomly sampled the
friction material. This sometimes led to an overflow of a number of
materials possible from the PhysX side. This MR switches to using events
for the ANYmal Direct RL environment implementation.

Fixes [#941](https://github.com/isaac-sim/IsaacLab/issues/941)

## Type of change

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

## Checklist

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# Description

Previously, the method for randomizing masses of rigid bodies only set
the masses. However, the inertia tensors were not automatically updated,
and their original values were used inside the solver. This MR adds a
flag to recompute the inertia when mass is randomized by assuming a
uniform-density object. We make this an optional flag in case users want
to handle inertia tensors explicitly on their own.

## 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

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# Description

The links to the environment IDs in `docs/environments.rst` for the
Unitree Go1, A1, and Go2 (both rough and flat) were incorrect. I have
fixed them by providing the correct links.

## Type of change

- This change requires a documentation update

## Checklist

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# Description

In previous version of the SB3 environment wrapper, the episode buffer
was not cleared when `env.reset` was called. This led to an
overestimation of the number of time-steps and rewards in subsequent
episodes, as reflected in the `infos` returned by `env.steps`. This
commit aims to address this.

## Type of change

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

## Checklist

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

The current windows installation does not support pip installation of
isaac sim in venv as it only checks whether a conda environment is
enabled or assumes that a symlink to isaac sim is used. This change adds
support to check for system python when isaac sim is installed via pip.
In addition, isaac sim variables at conda environment startup should
only be assigned if isaac sim is installed from binary. This change
addresses the need for when pip installation of isaac sim is used in
conda.


## Type of change

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applicable. -->

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


## Checklist

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extension's `config/extension.toml` file
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# Description

The if-else-continue logic inside the event manager has become scary.
This MR simplifies it and keeps the term call local to the if
statements. I hope this should help with the readability.

## Type of change

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

## Checklist

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# Description

Currently, the tasks shipped with the VS code configuration only specify
Linux commands, which prevent the use of them on Windows. This MR adds
those tasks for Windows OS as well.

Fixes #962

## Type of change

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

## Checklist

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

Added command-line MJCF conversion script and corresponding support and
test files.
- `convert_mjcf.py` in `standalone/tools/`
- `mjcf_converter.py` and `mjcf_converter_cfg.py` in
`extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/`
- tests and corresponding tutorial update


## Checklist

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`./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: 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

Streaming does not work for `isaaclab --livestream 1` using streaming
client 103.1.1.

This change sets the streaming client extension versions to the defaults
in isaac-sim-4.1.0/apps/omni.isaac.sim.headless.native.kit

Fixes #949 

## Type of change

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

## 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

# Description

Previously, the returned config object for `parse_env_cfg` mentioned the
dictionary. However, this is hardly used or supported in our workflows
code. This MR simplifies the return type to only be an instance of
manager-based or direct environment configuration classes. Doing so,
also cleans the code a bit by removing the need of explicit
type-hinting.

## Type of change

- 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
- [ ] 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Various randomization and procedural generation operations happen at
initialization. However, as noted in one of the issues, the seed setting
happens after all these operations are performed. This means that the
creation of the environment is not completely deterministic. This MR
resolves this issue by adding a `seed` configuration to the environment.

Fixes #904

## Type of change

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

## Screenshots

The before and after results over **three runs** with the default seed
(seed: 42)

```bash
./isaaclab.sh -p source/standalone/workflows/rsl_rl/train.py --task Isaac-Velocity-Rough-Anymal-C-v0 --headless --run_name seed
```

| Results over three runs |
| ------ | 
| Before (main at 788a061d)
![before](https://github.com/user-attachments/assets/21a6a9f3-7438-4e73-92dd-a32106272fcb)
|
| Now (this MR)
![after](https://github.com/user-attachments/assets/821b9c63-34b7-4ce2-8d36-4c979c47070b)
|

## 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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description
Extended the two functions' capability so they now can take in
multidimensional tensors and no longer limited to 2D tensors of shape
(B,4) and (B, 3)

## 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`
- [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: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Signed-off-by: dxyy1 <139338590+dxyy1@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Expands upon `test_articulation.py` to test with mulitple robots and on
both CPU / GPU.

Fixes #861 

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

# Description

This MR adds support for property attributes in the
`omni.isaac.lab.utils.configclass` decorator. Earlier, the configclass
decorator failed to parse the property attributes correctly and made
them instance variables instead.

## 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

# Description

Fixed the typo in the `create_scene.py` tutorial.

Fixes #944

## 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
- [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

# Description

While developing some teleoperation methods, I discovered that the
keyboard y-axis was moving in a non-intuitive direction. It turned out
that the +ve and -ve y-axis are bound to keys (D, A) instead of (A, D).
This MR fixes the issue in both keyboard device documentation
instructions to follow the right-hand rule.

## Type of change

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

## Screenshots

![Screenshot from 2024-08-30
14-57-26](https://github.com/user-attachments/assets/5f29054e-f0e8-4b8e-bb90-49f3403a1e08)


## 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
- [X] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Added the data type "distance_to_camera" in the `TiledCamera` class to
be consistent with all other cameras. This data type is equal to the
"depth" datatype.

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