# Description

Thanks to Matteo Grimaldi, Saleh Nabi and Wonju Lee for identifying the
source of this memory leak.

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Add garbage collector calls since warp doesn't handle well the free
memory.

Fixes #2679 

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## Type of change

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applicable. -->

- Bug fix

## Screenshots

Before this change - the experiment hasn't been completed on 64GB RAM
machines.
After  this change it requires less than 12GB RAM.
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![Screenshot 2025-06-12 at 18 31
38](https://github.com/user-attachments/assets/695de828-2f9d-4714-aae3-5d9831ae6e77)

## 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

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---------
Signed-off-by: David <ddleon@outlook.co.il>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Fix the small stylistic mistake in the documentation. 

## Type of change

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

## 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: Norbert Cygiert <107721774+norbertcygiert@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

## Description

Previously, `euler_xyz_from_quat` returned Euler angles in the [0, 2π)
range, which is uncommon in robotics applications. As a result, several
users implemented their own workarounds to adjust the angle range to
(−π, π]. Examples include:

- **Isaac-RL-Two-wheel-Legged-Bot**: Custom unwrapping implemented in
[`rewards.py#L17`](https://github.com/jaykorea/Isaac-RL-Two-wheel-Legged-Bot/blob/057f81ed3aa4aff91551fce5c54256e47cece29a/lab/flamingo/tasks/constraint_based/locomotion/velocity/mdp/rewards.py#L17).
- **lorenzo-bianchi/IsaacLab**: Manual angle shifting in
[`quadcopter_env_v1.py#L219`](https://github.com/lorenzo-bianchi/IsaacLab/blob/247f66db3691046ecdfecb311268eccc729048ec/source/extensions/omni.isaac.lab_tasks/omni/isaac/lab_tasks/direct/quadcopter/quadcopter_env_v1.py#L219).
- **kscalelabs/klab**: Custom angle normalization in
[`imu.py#L17`](https://github.com/kscalelabs/klab/blob/edf749f5177ba296a076d13380cd0fb1e5846e3f/exts/zbot2/zbot2/tasks/locomotion/velocity/mdp/imu.py#L17).

To address this issue, we have updated the default angle range from [0,
2π) to (−π, π] by removing the `% (2 * torch.pi)` operation at the
return statement, since the [atan2
function](https://en.wikipedia.org/wiki/Atan2) naturally outputs angles
within the (−π, π] range.

We also introduced a new parameter, `wrap_to_2pi: bool = False`. Setting
this parameter to `True` will maintain the previous behavior:

- **Default (`wrap_to_2pi=False`)**: Angles returned in the range (−π,
π].
- **Optional (`wrap_to_2pi=True`)**: Angles wrapped in the original [0,
2π) range.


Additionally, multiple test samples have been added to evaluate and
ensure performance and accuracy across different scenarios.

### What’s Changed

- **Default behavior** updated to (−π, π] (non-breaking).  
- **New argument** `wrap_to_2pi` for optional wrapping.  
- **Unit tests** added for both wrapped and unwrapped outputs.

---


Fixes https://github.com/isaac-sim/IsaacLab/issues/2364


## Type of Change

- **Enhancement** (non-breaking addition of functionality)
---

## Checklist

- [x] Ran `./isaaclab.sh --format` and all pre-commit checks pass  
- [x] Updated docstrings to describe `wrap_to_2pi` parameter  
- [x] Added tests covering both wrapped and unwrapped outputs  
- [x] No new warnings introduced  
- [ ] Updated changelog and bumped version in `config/extension.toml`  
- [x] Confirmed my name is listed in `CONTRIBUTORS.md`

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

# Description

In the `H1RoughEnvCfg` class, the `body_names` assignment for contact
termination was initialized twice, which was redundant. This PR removes
the duplicate assignment.

```
        # Terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = [".*torso_link"]

        # Rewards
        self.rewards.undesired_contacts = None
        self.rewards.flat_orientation_l2.weight = -1.0
        self.rewards.dof_torques_l2.weight = 0.0
        self.rewards.action_rate_l2.weight = -0.005
        self.rewards.dof_acc_l2.weight = -1.25e-7

        # Commands
        self.commands.base_velocity.ranges.lin_vel_x = (0.0, 1.0)
        self.commands.base_velocity.ranges.lin_vel_y = (0.0, 0.0)
        self.commands.base_velocity.ranges.ang_vel_z = (-1.0, 1.0)

        # terminations
        self.terminations.base_contact.params["sensor_cfg"].body_names = ".*torso_link"
```

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

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

# Description

This PR updates the `NoiseModelWithAdditiveBias` to apply per-feature
bias sampling.

Previously, the model sampled a single scalar bias per episode and
applied it uniformly across all feature dimensions (i.e., axis 1 of a
(`num_env`, `feature_dim`) tensor). This PR changes the behavior to
instead sample a separate bias value for each feature dimension, making
the model more suitable for structured inputs such as positions,
velocities, or multi-DOF actions.

### Notes

Structured inputs typically contain semantically distinct components,
like [x, y, z] coordinates, where applying the same bias across all
components introduces unrealistic, fully correlated noise. Independent
per-dimension bias sampling leads to more realistic and robust policy
training, especially for sim-to-real transfer.

I’ve replaced the previous behavior with this new default, as I believe
the original implementation could be misleading and not well-suited for
many practical scenarios. However, if desired, I can make both behaviors
available via a configuration flag (e.g., `per_feature_bias=True`), to
retain backward compatibility.

Fixes #2759.

## Type of change

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

## Checklist

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

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

# Description

Fixes typo in reset_scene_to_default that was recently added where joint
position was incorrectly set to velocity targets.


## 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

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# Description

Add an example to train a locomotion and loco-manipulation controller
for digit. This also serves as an example on how to train a robot with
closed loops.

## Type of change

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

## Screenshots



## 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

---------
Signed-off-by: lgulich <22480644+lgulich@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This PR logs env_cfg and agent_cfg to wandb in accordance how rl_games
handles env_cfg and agent_cfg. Before env_cfg and agent_cfg is not
observable from wandb run.


## Type of change

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

## Screenshots

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

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## Checklist

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

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# Description

The body_com event term added to the base velocity cfg caused errors in
some locomotion environments if the body was not named "base". This PR
disables the event term for these environments.

Fixes #2574 

## 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

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Fix bug of reset joint initial state of articulation in event function
`reset_scene_to_default` ref to:
https://github.com/isaac-sim/IsaacLab/issues/2663, where the targets
were not previously reset together with the joint positions.

# Description

ref: https://github.com/isaac-sim/IsaacLab/issues/2663Signed-off-by: Wenguo Hou <wghou09@bjtu.edu.cn>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Various minor updates to documentation to clarify a few concepts:

- Adds note about source conda environment if installing from binaries
using conda, but not using `./isaaclab.sh -c` option
- Adds note that Fabric should be enabled for GPU simulation and that
rendering will not update if Fabric is not enabled
- Adds note about using the inference task names if available when
running inferencing
- Removes unneeded physics cudaDevice flag for distributed training

## 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

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Fixes inconsistent data reading in body, link, com for RigidObject, RigidObjectCollection and Articulation (#2736)

# Description
When WriteState, WriteLink, WriteCOM, WriteJoint are invoked, there is a
inconsistency when reading values of ReadState, ReadLink, ReadCOM. The
Source of the bug is because of missing timestamp invalidation of
relative data or missing update to the related data within the write
function. Below I list the all functions that is problematics

RigitObject:
write_root_link_pose_to_sim
write_root_com_velocity_to_sim

RigitObjectCollection:
write_object_link_pose_to_sim
write_object_com_velocity_to_sim

Articulation:
write_joint_state_to_sim

The bug if fixed by invalidating the relevant data timestamps in
write_joint_state_to_sim function for articulation, and added direct
update to the dependent data in write_(state|link|com)_to_sim of
RigitObject and RigitObjectCollection.

I have added the tests cases that checks the consistency among
ReadState, ReadLink, ReadCOM when either WriteState, WriteLink,
WriteCOM, WriteJoint is called and passed all tests.

Fixes #2534 #2702 

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

# Description

This PR adds `NoiseModel` support for manager-based workflows. To
achieve this, I have:
- Added `NoiseModel` lifecycle management to `ObservationManager`.
- Added a `Callable` field, `func`, to `NoiseModelCfg`, which
`ObservationManager` uses to assign the class instance within, similar
to how it is done for `ModifierBase`.
- Renamed `apply()` to be `__call()__`, to be consistent with
function-based noises and `ModifierBase`.

Fixes #2715 and #1864.

Note: I left the changelog with the entry [Unreleased] until the PR is
given the green light.

## 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
- [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

<!--
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to check the contribution guidelines.

Link:
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-->

Please include a summary of the change and which issue is fixed. Please
also include relevant motivation and context.
List any dependencies that are required for this change.

Implement part of https://github.com/isaac-sim/IsaacLab/issues/1769
(optimization)

This is a breaking change because the fast variant is now enabled by
default.

I also improve sb3 training script, fixed loading of normalization and
fixed the humanoid hyperparameters to be similar to rsl-rl, so we can
compare apples to apples in terms of training speed.

I will probably open another PR for the rest of the proposals.

<!-- As a practice, it is recommended to open an issue to have
discussions on the proposed pull request.
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## 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)
- Breaking change (fix or feature that would cause existing
functionality to not work as expected)
- This change requires a documentation update

With respect to testing, how do you run a single test?
and is there anything I should add?


## 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

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---------
Signed-off-by: Antonin RAFFIN <antonin.raffin@ensta.org>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

Add more information in the print out message, when generating
disassembly paths.

## Type of change

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

## Checklist

- [ x ] I have run the [`pre-commit` checks](https://pre-commit.com/)
with `./isaaclab.sh --format`
- [ ] 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 link to python script in walkthrough tutorial

Fixes #2740 

## 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

Fix the link

## 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
- [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
Signed-off-by: robotsfan <fanziqi614@gmail.com>

# Description

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to check the contribution guidelines.

Link:
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-->

Fixed potential issues in
:func:`~isaaclab.envs.mdp.events.randomize_visual_texture_material`
related to handling visual prims during texture randomization.

Fixes # (issue)

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## Type of change

<!-- 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)

## 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
- [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: YunLiu <55491388+KumoLiu@users.noreply.github.com>

# Description

pxr.Semantics was deprecated in Isaac Sim 4.2 and is now Semantics. This
PR replaces imports of pxr.Semantics with Semantics if available.

## 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

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# Description

This PR creates support wandb logging in rl_games training. rl_games has
been supporting wandb logging, and the examples of how to configure it
can be seen from
[rl_games-wandb_support](https://github.com/Denys88/rl_games/blob/51ac9aa2981ba3204ea513104a1da46e6b5a39c9/runner.py
) we could follow the same style and enable current rl_games pipeline to
use wandb as well.

## 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`
- [ ] 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

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# Description

This PR show the available RL library (and algorithms) configs on error
message when an entry point key is not available for a given task.

Example: for `./isaaclab.sh -p
scripts/reinforcement_learning/sb3/train.py
--task=Isaac-Cart-Double-Pendulum-Direct-v0 --headless`

Before:

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'. Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
```

After

```
ValueError: Could not find configuration for the environment: 'Isaac-Cart-Double-Pendulum-Direct-v0'.
Please check that the gym registry has the entry point: 'sb3_cfg_entry_point'.
Existing RL library (and algorithms) config entry points: 
  |-- rl_games: PPO
  |-- skrl: PPO, IPPO, MAPPO
```

## 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
- [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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# Description

Adds support for bash history between docker start/stop cycles.

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

To be consistent with the recommendation of conda installation, we are
updating the quickstart guide to also use conda

## 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

Fix the issues reported from QA.
- Change number of trajectories for disassembly task and the job will
output this number during running.
- Add explanation about disassembly task in environment doc (not
involving policy training and evaluation)
- Add flag for wandb to record learning curves for assembly tasks
- Add flag for max_iterations to set number of training epochs
- Add the command line for windows in run_w_id.py and
run_disassembly_w_id.py

## Type of change

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

# Description

Adds section in readme to highlight dependency of isaac sim versions for
different releases and branches of isaac lab.
Adds additional note about the Isaac Lab feature/isaacsim_5_0 branch
that currently requires the isaac sim OSS repo built from source.

## 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

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# Description

Removes the old license headers in scripts and keep only the new one.


## 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

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# Description

This PR fixes an issue where only one `FrameTransformer` instance could
visualize its connecting line between source and target frames. The
problem stemmed from a shared global `debug_draw` interface, where each
instance's call to `clear_lines()` would erase the lines drawn by
others.

The solution replaces `debug_draw` with a per-instance
`VisualizationMarkers`-based renderer that uses a thin yellow cylinder
to depict the connecting line. This ensures that all active
`FrameTransformer` instances in a scene can render their lines
concurrently without interfering with each other.

Fixes #2525, #1754

## Type of change

- [x] 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

| Before | Now |
|---------|----------|
| <img
src="https://github.com/user-attachments/assets/c6a3f496-4c11-44b1-a3d3-e1af5ae5e4b0"
width="500"/> | <img
src="https://github.com/user-attachments/assets/89342fab-73c1-470d-8a63-0a45c11b3aa8"
width="500"/> |

Only the most recently added `FrameTransformer` line would appear. After
this change, all relevant connections are visualized concurrently.

## 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: Kelly Guo <kellyg@nvidia.com>

# Description

Previously, the physics engine introduced a new feature to automatically
perform collision filtering across environments when physics replication
is enabled. However, this feature has limitations for CPU simulation, so
we still need to explicitly call collision filtering on CPU simulation.

This change fixes the scene setup process to do explicit collision
filtering when running on the CPU.

Fixes #2548 

<!-- 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

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

# Description

Currently, the `TerrainGenerator` class is hardcoded in the
`TerrainImporter`. This class resolves this issue and allows for custom
implementations.

## 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

---------
Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Signed-off-by: Kelly Guo <kellyguo123@hotmail.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyguo123@hotmail.com>

# Description

This updates the help output of the main script (isaaclab.sh/bat --help)
and the docs to reflect the switch from unittest to pytest for running
unit tests.

## 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
- [N/A] 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 root positions was obtained by performing the following
steps:

1. Call PhysX getters to get transforms and velocities
2. Concatenating the two to make a single state tensor
3. Indexing this tensor to get the position

For applications where we only want the positions, the above is an
expensive operation as we call CUDA-MemCpy twice and then do
concatenation which adds overhead.

This MR simplifies the above process by having separate lazy buffers for
poses, velocities and states.

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

- 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.

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

# Description

The intent is to create an in depth walkthrough for setting up a
project, adding a robot, and training it in the direct workflow. the
goal is to reference our tutorials and other documentation
appropriately, and build off of the walkthrough for other workflows in
the future

## 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: Michael Gussert <michael@gussert.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

# Description

Gymnasium 1.0 introduced support for specifying module:task to
automatically import modules instead of pre-importing task modules. This
PR adds support for this feature and enforces the gymnasium version to
be >= 1.0.


## 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
- [ ] 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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putting an x character in it

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

# Description

As pointed out in the reported issue, there seem to be some expensive
`tolist()` operations inside the circular buffer class, that aren't
necessary. This MR simplifies the code.

Fixes #2590

## 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
- [ ] 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: Kelly Guo <kellyg@nvidia.com>

# Description

Update license headers to with link to define the Isaac Lab Developer
entities. Additionally, adds DCO (Developer Certificate of Origin) to
the contributing.md page for contributors

## 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

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# Description

Modify the name of code folder and environment for AutoMate. Before, the
folder name `assembly` is too general. We change it to `automate`. Also,
we add `AutoMate` in the environment name.


## 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

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

# Description

If you perform pause-play while running a checkpoint, the manager terms
that are in the "play" callback gets called which leads to terminal
spamming. This MR adds a check to make sure we don't reinitialize the
terms twice.

## 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
- [ ] 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

The imports for `omni.log` was missing. In the other file, carb was used
(incorrectly) instead of omni.log.

## 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
- [ ] 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

As discussed in #2284, I was writing an observation function to pass the
time remaining in an episode (in seconds) to an observation term in a
Manager-based environment, and found this could not be done without
modifying `ManagerBasedRLEnv` to initialize `episode_length_buf` before
managers are loaded. Here is a summary of changes made:

* Added initialization of `episode_length_buf` in
:meth:`load_managers()` of :class:`~isaaclab.envs.ManagerBasedRLEnv` to
make it available for use in mdp functions. Note: existing
initialization in :meth:`__init__` left in place in case it is needed
for other use cases. Potentially redundant? Assess.
* Added :attr:`~isaaclab.envs.ManagerBasedRLEnv.curr_episode_length` to
:class:`~isaaclab.envs.ManagerBasedRLEnv` which returns reshaped
``episode_length_buf`` so it is visible as an attribute in the
documentation.
* Added time observation functions to `~isaaclab.envs.mdp.observations`
module, :func:`~isaaclab.envs.mdp.observations.current_time_s` and
:func:`~isaaclab.envs.mdp.observations.remaining_time_s`.

I'm not certain whether the documentation will be updated automatically
or if there are further steps I need to take. When I build the
documentation on my machine it is updated, but the outputs are ignored
by git. Please let me know if there's anything else I need to do.

I could also use some advice on tests (apologies in advance for my lack
of experience here, my background is not in software dev). Locally I
modified the `Isaac-Velocity-Rough-Anymal-C-v0` task to add the two new
observation functions, and began to train a policy in rsl_rl using the
provided `scripts/reinforcement_learning/rsl_rl/train.py` script, and
both were available to be viewed and appeared to be working correctly. I
tried to run the existing suite of unit tests but it gave me an error I
don't understand (see below). I also started to create a new script
similar to
[`isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py`](https://github.com/isaac-sim/IsaacLab/blob/7de6d6fef9424c95fc68dc767af67ffbe0da6832/source/isaaclab/test/envs/check_manager_based_env_anymal_locomotion.py)
but that would have required a policy trained using the new observation
functions (which I can produce, but wasn't sure if that would be
worthwhile since it wouldn't be available to others).

Output when running `./isaaclab.sh -t`:
```
[INFO] Warm starting the simulation app before running tests.                                                                                                                                                                                                                                                                        
ERROR:root:Error warm starting the app: b'2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 16 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 17 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 18 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 19 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 20 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 21 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 22 belongs to.\n2025-04-17 18:14:17 [429ms] [Error] [omni.platforminfo.plugin] failed to find the package that core 23 belongs to.\nMESA-INTEL: warning: Performance support disabled, consider sysctl dev.i915.perf_stream_paranoid=0\n\n'
```

Cheers.

## 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 (_maybe_?)
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works (please advise)
- [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: TheIndoorDad <167908515+TheIndoorDad@users.noreply.github.com>
Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Added `max_grad_norm` field to `RslRlDistillationAlgorithmCfg` in order
to be compatible with https://github.com/leggedrobotics/rsl_rl/pull/91

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

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