# Description

Updating CloudXR doc with stronger requirements and bimanual teleop gif

## 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
- [x] My changes generate no new warnings
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

Updates environment table with enable_cameras to specify explicitly
which environments require running with `--enable_cameras`.

## Type of change

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

- This change requires a documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

Update the Mimic doc by dividing the GR1 collection/annotation steps
into subsections to clarify that they are different steps.

## Type of change

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

- Documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

1. Updates the Mimic docs and adds a diagram to show correct annotation
for the GR1 pick place task.
2. Move the pick place task gif so that users can reference it when
collecting demos.

## Type of change

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

- Documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

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

This PR adds a quickstart guide and various references to the setup
instructions for Isaac Lab

## 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

Fixes docstring description of dictionary example for CameraCfg
semantic_segmentation_mapping to properly format dictionary in
documentation.

Fixes # (issue)

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

## Type of change

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

- This change requires a documentation update


## Checklist

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

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

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

# Description

Fixes the wrist rotation option in se3_abs_retargeter 

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

## Type of change

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

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

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

Although the current docker command still works for headless rendering,
it sometimes generates an error message from carbonite. This change adds
an option to enable X11 forwarding when using the prebuilt docker image,
which fixes the error.

## Type of change

- This change requires a documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

Saves a checkpoint file on the first iteration of the feature extractor
so that a checkpoint is available if inferencing early on in the
training process. Previously, we had to wait until 50k steps for the
checkpoint to be saved.

## Type of change

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

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


## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

Added in a detail for selecting the Rendering Mode from the CLI
argument.

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

## Type of change

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

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

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

Adds an "idle_action" parameter to the GR1 pick-place env. The
replay_demo script is also updated to check if envs have an idle action
pre-defined in its config and uses it if present. If not present, the
replay script will continue to use a zero tensor for idle actions.

This fixes errors during demo replay if an env doesn't support a zero
action tensor.

## Type of change

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

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


## Checklist

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

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

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

# Description

Adds note regarding memory requirement for rendering as workflows
requiring rendering will need more VRAM available in the system.

## Type of change

- This change requires a documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

This change extracts the success term from the env and uses it to check
for policy success in the Robomimic play script.

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. -->

Previously the script used the termination condition as a check for
success. However, if other termination terms are added to an env that
reset the env without a success occuring, then that would cause false
positives. The script now explicitly uses the "success" termination
event to fix this.

## Type of change

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

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


## Checklist

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

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

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

# Description

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

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

Update a rendering mode preset setting
`rtx.domeLight.upperLowerStrategy` as recommended by the rendering team.


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

## Type of change

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

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

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

This enhancement introduces a dynamic text instruction widget that
provides real-time feedback on the number of successful recordings
during demonstration sessions.

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

- [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 <kellyguo123@hotmail.com>

# Description

The roll link parents the pitch link, so in the current configuration,
the controller is not able to control the pitch link. By targeting the
pitch link, the entire wrist can be controlled.

- 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

Add doc note for warnings regarding assets that can be safely ignored.

## 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`

---------
Co-authored-by: Peter Du <peterd@nvidia.com>

Reverts isaac-sim/IsaacLab-Internal#344

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

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

This change adds a patch in AppLauncher to override the Matrix4d
constructor to convert it's arguments into a list of floats for
compatibility with Pinocchio 2.7.0. This serves as a workaround until
Isaac Sim is patched with the fix in a later release.

The conda installation of Pinocchio 3.4.0 has been removed now that this
solution enables support for Pinocchio 2.7.0.

The corresponding documentation has also been updated now that this
workaround is in place. This includes:
1. Removing the note in Issac lab Mimic docs informing users of the
error
2. Restoring the Isaac Lab pip installation docs to original state (not
using environment.yml to create the conda env)

Fixes # (issue)

Fixes error when running XR teleop with Pinocchio 2.7.0

<!-- 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

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

<!--
Example:

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

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

- [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

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

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

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

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

If the launcher argument `enable_cameras` is not selected, then change
the default rendering mode behavior to just use the default kit
rendering settings.

<!-- 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. -->

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

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

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

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

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

## 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

This PR adds a XR near plane config

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

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

# Description

Update Teleop and Imitation Learning docs to use Abs task for XR.

## 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
- [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
Don't query for headpose until https://nvbugspro.nvidia.com/bug/5173837
is fixed
<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

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

Fixes # (issue)

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

## Type of change

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

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

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

Update Isaac Lab pip installation docs to use the included
environment.yml when creating conda env.
This installs all required conda deps for users when using Isaac Sim pip
install method to install Isaac Lab

## Type of change

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

- Documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

1. Adds a warning that XR TypeError seen during Isaac Sim bootup can be
ignored and will be fixed in the next released patch of Isaac Sim.
2. Clean up Mimic docs by changing "note" tabs to "tips" and "important"
tabs where appropriate

## Type of change

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

- Documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

---------
Co-authored-by: Ashwin Varghese Kuruttukulam <ashwinvk@nvidia.com>

Small refactor to add headpose to the openxr device

<!-- 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. -->

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

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

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

<!--
Example:

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

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

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

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

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

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

# Description

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

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

Move omni log import after app launcher in record demos script to fix
"No module named omni.log" error

## Type of change

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

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


## Checklist

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

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

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

# Description

A typo was in the environment.yml file for conda installation. Fixing
the typo here to avoid installation issues.

## Type of change

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

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


## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

Update CloudXR docker run command to use a mount rather than a volume.

## 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
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works (NOTE: test added to cloudxr docker repo)
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

# Description

The following bugs in Mimic are fixed:

1. Annotation script would hang during startup unless the Isaac Sim
window was clicked on when playing visuomotor env. Fixed by removing
unneccessary env full sim reset prior to reset during startup.
2. Add instructions to docs on where to modify docker compose file to
mount spacemouse.
3. Add to docs the command to run demo replay for GR1 env. 
4. Fix "Pink controller frametask" hyperlink in docs. 

## 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)
- Documentation update

## Checklist

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

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

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

# Description

Adds instructions for manipulating H1 humanoid demo and fixes some
documentation issues in changelog.

<!-- 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

- This change requires a documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

1. Move gr1mimc envs to a seperate directory and init file in order
prevent import pinocchio dependency
2. Install pinocchio 3.4.0 using conda as a fix for
https://nvbugs/5173837.
3. Sets the usdtourdf converter logger level to error
4. Add cfg parameter to `PinkIKControllerCfg` to toggle if IK solver
solution not found warnings are shown.

- 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 updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

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

# Description

Modifies the title of the deployment section in the documentation to
include mention of sim2real.

<!-- 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

- This change requires a documentation update

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

This MR updated `teleop_se3_agent.py` for supporting
`Isaac-PickPlace-GR1T2-Abs-v0` task. In addition, we updated the CloudXR
docs.


## Type of change

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

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


<!--
Example:

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

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

## Checklist

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

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

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

---------
Co-authored-by: Connor Smith <cosmith@nvidia.com>

# Description
Initial documentation for openxr device and retargeters
<!--
Thank you for your interest in sending a pull request. Please make sure
to check the contribution guidelines.

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

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

Fixes # (issue)

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

## Type of change

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

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

## Screenshots

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

<!--
Example:

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

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

## Checklist

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

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

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

---------
Signed-off-by: rwiltz <165190220+rwiltz@users.noreply.github.com>
Co-authored-by: Ashwin Varghese Kuruttukulam <123109010+ashwinvkNV@users.noreply.github.com>

Bug fixes and enhancements to Mimic.
Changes include:

- Fix bug that causes infinite looping of unsuccessful demos in
annotation script.
- Add auto reset event to pick place GR1 env when rod is dropped off
table
- Update pick place GR1 env task success criteria to be more precise
- Update Mimic docs to use CPU for GR1 teleop for better XR performance
due to running single env

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

- Bug fix (non-breaking change which fixes an issue)
- Documentation update
- Environment enhancement

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

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

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

Update cli args if conditional defaults are enforced by app launcher

<!-- 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. -->

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

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

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

<!--
Example:

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

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

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

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

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

# Description

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

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

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

<!-- 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. -->

- 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)


<!--
Example:

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

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

## Checklist

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

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

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

# Description

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

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

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

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

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


<!--
Example:

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

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

## Checklist

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

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

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