# Description

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This MRs adds a tutorial for training and validating the Hover policy
(already released to public https://github.com/NVlabs/HOVER) in Isaac
Lab.

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## Type of change

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- Added a tutorial to the documentation outlining the steps for training
and evaluation.

## Screenshots


![image](https://github.com/user-attachments/assets/44fff773-2484-499d-b3e9-8b6d54efc387)

![image](https://github.com/user-attachments/assets/478e6908-31e1-4873-b338-4182847992a7)

![image](https://github.com/user-attachments/assets/77056f8b-b4c5-4f97-be90-bb9bd75eb4c0)

![image](https://github.com/user-attachments/assets/97432a3c-6959-4b18-a2ac-cc9a39043d54)


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# Description

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Adds missing GR1 env import to scripts that may use the humanoid
environment.

Fixes case where running replay/train/play scripts gives
"Isaac-PickPlace-GR1T2-Abs-v0" not found error

## Type of change

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


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# Description

Advise users to use local deployment if using spacemouse device. Inform
users that they must manually mount the device if using spacemouse in
docker container.

## Type of change

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applicable. -->

- Documentation update


## Checklist

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

Update CloudXR Teleoperation documentation with Known Issues.

## Type of change

- Documentation

## Checklist

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

XR rendering requires DLSS RR to reduce the noise of visualization. This
PR:
-Adds xr rendering mode.
-Makes xr rendering mode the default unless explicitly set if xr is
enabled

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

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Isaac Sim uses an older version of scipy that does not support the
`scalar_first` flag. This fix removes the flag and fixes the quaternion
ordering to match scipy standards.

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

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`./isaaclab.sh --format`
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This change prevents importing pink/dex-retargeting when using other
IsaacLab scripts.

* Change the import structure to only import ``pinocchio`` when
``pink-ik`` or ``dex-retargeting`` is being used.
* This also solves for the problem that ``pink-ik`` and
``dex-retargeting`` are not supported in windows.
* Removed ``isaacsim.robot_motion.lula`` and
``isaacsim.robot_motion.motion_generation`` from the default loaded
Isaac Sim extensions and enable them only for RMPFlow
* Moved pink ik action config to a separate file.
* The pick_place task is now blacklisted from being imported
automatically by isaaclab_tasks and have to be imported
  manually by the script.

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

- [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

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

Work around for a dependency setting the render mode to
"RayTracedLighting" instead of "RaytracedLighting".

Fixes # (issue)

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- 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

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
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- [x] I have updated the changelog and the corresponding version in the
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# Description

Introduced a custom argparse action to determine if command-line
arguments were explicitly provided by the user.

* Updated the device argument in AppLauncher to utilize ExplicitAction,
allowing for better handling of device settings based on user input.
* Adjusted device resolution logic to account for explicit device
specification, improving the default behavior when running in XR mode.

Fixes # (issue)

## Type of change

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

## Screenshots

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

## 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

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

# Description

Update CloudXR Teleoperation documentation with newer task and button
names

## Type of change

- Documentation

## Checklist

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

# Description

Fixes some bugs introduced during rebase that did not pass correct
parameters to the carb setting APIs.

## Type of change

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applicable. -->

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


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## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
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- [ ] I have updated the changelog and the corresponding version in the
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- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
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# Description

Updates and bug fixes to Isaac Lab Mimic docs.
Changes include:

1. Use of synced tabs for state-based/visuomotor policy commands
2. Fix single tab name typo from "Image-Based" to "Visuomotor" 
3. Add section of GR-1 env data collection and annotation 

## Type of change

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- Documentation update

## Screenshots

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## 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
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- Rendering Mode Presets
-- adds a cli arg --rendering_mode, can be set to
quality/balanced/performance
-- selects the preset rendering settings stored in .kit files in
apps/rendering_modes
-- the renderings settings are set after the app is launched
- RenderCfg update
-- unsets the default settings
-- adds a general_parameter field to support all .kit rendering settings
in their native names
-- RenderCfg overwrites settings which are set with a preset
- Unit test
-- just checks preset + override settings behave correctly for each
preset
- Example script
-- very simple script that launches a hospital scene with a given
rendering mode and override settings

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

Screenshots from rendering preset script

performance:

![performance_v2](https://github.com/user-attachments/assets/ad1cf425-3a13-48be-ad00-33089ab304a3)

balanced:

![balanced_updated](https://github.com/user-attachments/assets/4a0852d0-112f-43d7-aa45-2a6c417457a8)

quality:

![quality](https://github.com/user-attachments/assets/10f54027-a125-4e0b-ad6c-5a087a1d4c78)

- [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
- [x] I have updated the changelog and the corresponding version in the
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---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Fixes line number references in robot import tutorial that got messed up
due to changes in the script.


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## Type of change

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

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## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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# Description

Moves asset import tutorial to assets section as it belongs better with
the other asset tutorials instead of the environment section.

## Type of change

- This change requires a documentation update

## Screenshots

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## 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

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A tutorial about adding a new robot from Isaac Sim in the direct
workflow

## 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: rwiltz <165190220+rwiltz@users.noreply.github.com>
Signed-off-by: Michael Gussert <michael@gussert.com>
Co-authored-by: jaczhangnv <jaczhang@nvidia.com>
Co-authored-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>

Updates the OpenXR kit file `isaaclab.python.xr.openxr.kit` to inherit
from `isaaclab.python.kit` instead of `isaaclab.python.rendering.kit`,
which caused render artifacts in the scene.

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<!-- 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)

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- [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

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

# Description

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to check the contribution guidelines.

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Documentation update for Isaac Lab Mimic for V2 release. Adds steps for
training visuomotor policy and dexmimic data generation.


## Type of change

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applicable. -->

- Documentation update

## Screenshots

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

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This PR adds GR00T Mimic support for GR1, including addition of:

1. GR1T2 Scene
2. Pink IK controller
3. Integration for GR1T2 scene with Groot Mimic. Record, Annotate and
Data Generation
4. Training scripts for GR1T2 scene using Groot Mimic Data
5. Coding style fixes for math.py

1. https://github.com/isaac-sim/IsaacLab-Internal/pull/267
2. https://github.com/isaac-sim/IsaacLab-Internal/pull/280
3. https://github.com/isaac-sim/IsaacLab-Internal/pull/287
Note: These branches have been merged into this PR branch for testing.

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

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- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] documentation PR is here:
https://github.com/isaac-sim/IsaacLab-Internal/pull/299
- [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

Note: There are these 3 TODOs related to moving USD files to the correct
location. But I'm planning to move those to the right location and then
make the changes in a follow up MR.

---------
Signed-off-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Rafael Wiltz <rwiltz@nvidia.com>
Co-authored-by: Jiakai Zhang <jaczhang@nvidia.com>
Co-authored-by: CY Chen <cyc@nvidia.com>
Co-authored-by: Peter Du <peterd@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Update CloudXR documentation with official sample app repository name.

## Type of change

- Documentation

## Checklist

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

- Allows users to exit on 1 Ctrl+C instead of consecutive 2 key strokes.
- Allows physics reset during simulation.

Example:

**env.sim.reset() # resets physics simulation
env.seed(seed) # ensures running with the same seed
env.reset()**

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exists there

# Description

A recent change changed the default behavior of CLI device parsing in
AppLauncher, where if None was passed to the CLI, the CLI device
argument stayed as None instead of setting to the default cuda:0 device.
This change reverts to the previous behavior and restores cuda:0 as the
default device if None is passed, unless --xr is also passed, in which
case, we default to cpu.

## Type of change

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

## Checklist

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# Description

Add initial documentation for CloudXR Teleoperation.

## Type of change

- Documentation

## Checklist

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exists there

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

This PR updates mimic to support multi-eef (DexMimicgen) data
generation.
It consists of the following major changes:
- Updated mimic code to support environments with multiple end effectors
- Added support for setting subtask constraints based on DexMimicGen
- Updated annotate_demos.py to support annotating subtask term signals
for multiple end effectors
- Updated mimic API target_eef_pose_to_action() to take noise as
dictionary of eef noise values instead of a single value

- 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

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

# Description

Remove the fixed time step flag `NV_PACER_FIXED_TIME_STEP_MS` for
CloudXR runtime container.

## Type of change

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


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This PR adds an absolute pose variation of the franka cube stacking
environment for mimic.

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

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

- Add an input device that returns a dict of joint_str : pose for hand
tracking joints
- Adds retargeting boilerplate code
- Adds retargeting arg to record demos

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- 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
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- This change requires a documentation update

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# Description

Don't attempt to recreate the XR anchor if one already exists.

This fixes an error that occurs when multiple XR devices are created,
because each one tries to create a prim at the same path so the second
one fails.

## Type of change

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

## Checklist

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

Minor edits to the contact sensor overview to clarify the difference in
output between net contact forces and force matrix when filtered bodies
are not in contact with each other.

## Checklist

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

Currently, the camera placement for the stacking task is set to a
task-specific
view in each main script (record_demos.py, teleop_se3_agent.py). This is
not
scalable for when we need to add more tasks with different camera
placements,
or more main scripts.

Instead, this change adds an XrCfg with "xr_anchor_pos" and
"xr_anchor_rot" fields
which can specify the XR anchor prim per-task (e.g. in the stacking base
task).

Specifically: the pose of this prim will be placed at the origin of the
XR
device's local coordinate frame. This is achieved by setting the XR
anchor mode
to "custom anchor", which determines the coordinate frame transformation
between
the simulation and the XR device's local frame.

The default camera placement is set to the scene origin pose (in case a
custom
anchor is not set for a task).

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

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exists there

Adds headless XR support to Isaac Lab and refactors the AppLauncher:
* Fixed headless XR rendering with Kit XR's OpenXR extension
* Automatically enables AR mode when running headless
* Centralized XR-specific settings from code to Kit app configuration
files
* Added new `isaaclab.python.xr.openxr.headless.kit` configuration file
* Introduced `--xr` flag in AppLauncher for explicit XR mode control
(also supports `XR=1` environment variable)
* Device resolution for XR should default to CPU unless overridden
* In a separate commit, the AppLauncher configuration resolution is
broken down to resolve the flake8 C901 complexity violation

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

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# Description

This MR enables to run CloudXR OpenXR Runtime Container for Isaac Lab.
The main changes are:
- Added docker files to support run CloudXR OpenXR runtime container
with isaacLab container. To start both containers:
```
python docker/container.py start \
    --files docker-compose.runtime.patch.yaml \
    --env-file .env.runtime
```

## Type of change

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applicable. -->

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


## Checklist

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---------
Co-authored-by: Yanzi Zhu <yanziz@nvidia.com>

# Description

- Added a visualization option for the SE(3) pose.
- Changed SE(3) rotation from rotvec to quat in Abs mode to match
controller expectation.
- Abs mode now supports all the flags present in Rel mode
(no_xy_rotation, etc)

Fixes # (issue)

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## Type of change

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

## Screenshots

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## Checklist

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

# Description

This MR improves the teleoperation performance to 45 FPS.

## Type of change

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applicable. -->

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

## Checklist

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# Description

Previously, the default value was None which did not allow loading the
model even if `--resume` was provided.

## Type of change

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

## Checklist

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exists there

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

# Description

This PR adds configuration classes for Student-Teacher Distillation and
adapts the policy exporters to be able to export student policies.

## Type of change

- Non-breaking change

## Checklist

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`./isaaclab.sh --format`
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---------
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>

# Description

Calling app.update may change the cuda device that was previously set by
Isaac Lab. This change forces the cuda device to be set back to the
desired device after each app.update call made in SimulationContext in
reset, step, and render. This fixes NCCL errors on distributed setups
for certain environments (especially when rendering is enabled), where
previously it would generate errors that different ranks were running on
the same device.

## Type of change

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applicable. -->

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


## Checklist

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# Description

Some example environments with rendering required an extensive amount of
VRAM that's likely not available on mid/lower end GPUs. This PR reduces
the default number of environments so that these examples can be more
accessible for users to try. Policy can still train with the lowered
number of environments.

## Type of change

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applicable. -->

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

## Checklist

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# Description

The `MotionViewer` class is not imported in `__init__.py`, preventing
external scripts from using this class. This PR fixes this issue such
that the MotionViewer class can be imported by external scripts.

The example usage would look like:

```python
from isaaclab.app import AppLauncher

# launch omniverse app
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app

"""Rest everything follows."""

from isaaclab_tasks.direct.humanoid_amp.motions import MotionViewer
```

Fixes #2196 

## Type of change

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

## Checklist

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# Description

Adds the dummy agents when generating an Isaac Lab's external project.
Useful when debugging!

## Type of change

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

## Checklist

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