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

## Checklist

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`./isaaclab.sh --format`
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---------
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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- Bug fix (non-breaking change which fixes an issue)

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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.

Link:
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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

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`./isaaclab.sh --format`
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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

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`./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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extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
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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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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- [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 initial documentation for CloudXR Teleoperation.

## 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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feature works
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extension's `config/extension.toml` file
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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

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

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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## Checklist

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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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`./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
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- [x] I have updated the changelog and the corresponding version in the
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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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applicable. -->

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

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
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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

- [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
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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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`./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

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)

- [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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- [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

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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- [x] I have made corresponding changes to the documentation
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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

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

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


## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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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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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
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- [ ] I have added tests that prove my fix is effective or that my
feature works
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extension's `config/extension.toml` file
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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

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

---------
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

<!-- 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
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- [ ] 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
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exists there

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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

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

- 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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# 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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exists there

# 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

- [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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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

I tried following the "Recording Animations of Simulations" instructions
(https://isaac-sim.github.io/IsaacLab/main/source/how-to/record_animation.html)

Most of the instructions were very clear. I was able to create the
`Stage.usd` and `TimeSample_tk001.usd` files. However, I struggled on
this step:

"On a new stage, add the Stage.usd as a sublayer and then add the
TimeSample_tk001.usd as a sublayer. You can do this by dragging and
dropping the files from the file explorer to the stage. "

I submitted an issue and it was clear that a documentation update would
be helpful.

Fixes #2232

## Checklist

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`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] (Docs only) I have added tests that prove my fix is effective or
that my feature works
- [x] (Docs only) I have updated the changelog and the corresponding
version in the extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

# Description

Running on 50 series GPUs requires the latest nightly build of pytorch.
Previously, we only included instructions for installing torch, but
torchvision is also required, which sometimes caused version mismatch
errors. This change fixes the instructions to include both torch and
torchvision.

Fixes #2226 

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## Type of change

- This change requires a documentation update

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## Checklist

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

When running `play.py` with `--real-time`, the dt used to calculate this
is incorrect. It is currently using `env.physics_dt`, which is `sim_dt`.
However, if the decimation is >1, then the effective dt is
`env.step_dt`, which is `sim_dt * decimation`. We are running 1
env.step() per loop, so this should definitely be `env.step_dt`.

This affects all reinforcement_learning/<rl_library>/play.py files. This
updates all of these appropriately

Fixes #2230 

## Checklist

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`./isaaclab.sh --format`
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- [x] My changes generate no new warnings
- [x] (No need for test for small change in script) I have added tests
that prove my fix is effective or that my feature works
- [x] (No need for changelog in scripts) 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: Tyler Lum <tylergwlum@gmail.com>

# Description
This PR fixes a bug where old callbacks for sensors were being called
after the scene had been cleared, resulting in exceptions and a crash of
extensions built off of Isaac Lab.

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

# Description

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Adds a check in RecorderManager to only record success results if
success termination term exists.

Fixes #2190 

Fixes recorder crash if added to ManagerBasedEnv.

## Type of change

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applicable. -->

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

## Checklist

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`./isaaclab.sh --format`
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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exists there

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# Description

Moves segmentation workaround to base Camera class as the bug on
instanceable assets was also affecting the non-tiled cameras.

## Type of change

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applicable. -->

- 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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- [x] My changes generate no new warnings
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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

The model in the policy inference tutorial needs to be moved to the
correct device based on the command line argument input. Otherwise, it
will cause device mismatch errors as policy defaults to the CPU while
environment defaults to GPU.

## 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`
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- [x] My changes generate no new warnings
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feature works
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# Description

The instance randomization stack environments have multiple cameras in
the scene, which requires heavy resources on large numbers of
environments. This PR reduces the default environment so that they can
be run with less memory resources.


## Type of change

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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`
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feature works
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exists there

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## Description

Previously empty or non-extension directories in the `source` folder
caused installation to crash, forcing users to delete the empty
directory. This MR replaces raising the error with a warning print.

## Type of change

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

# Description

Fixes #2169

## Type of change

- 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
- [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: gao <ziqi.gao@iff-extern.fraunhofer.de>

# Description

Previously, benchmark scripts were stopping the benchmark outside of the
global rank check and this occasionally causes issues on processes with
global ranks > 0. This change moves the call to be inside the if
statement such that it is only called on the rank 0 process.


## Type of change

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applicable. -->

- 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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# Description

This PR corrects the position of the method
`self._modify_action_space()` in the RSL-RL Wrapper, so that it is only
called after retrieving the dimensions of the environment, preventing
errors related to the use of uninitialized attributes when using
`clip_actions` in `RslRlVecEnvWrapper`.

Fixes https://github.com/isaac-sim/IsaacLab/issues/2184

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

# Description

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

Fixes # SE2/3 gamepad that calling wrong omniverse API,
[https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html#unsubscribing-the-gamepad-event-handler](url)

## 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
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feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
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---------
Signed-off-by: AlvinC <alvincny529@gmail.com>

# Description

Fixed typos in the documentation (development.rst).

## Type of change

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

## Screenshots

Not applicable.

## 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

---------
Signed-off-by: Victor Khaustov <3192677+vi3itor@users.noreply.github.com>

# Description

This MR introduces multi-GPU training for RSL-RL library. Also adds
configuration options for symmetry and RND.

Compatible only with RSL-RL v2.3.0 onwards so fixing the version.

Fixes #2180 

## Type of change

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

## 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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