# 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

💡 Please try to keep PRs small and focused. Large PRs are harder to
review and merge.
-->

This PR adds new APIs to Isaac Lab Mimic to expand support for
loco-manipulation data generation.

It adds:

- Processing for body end effector to treat a robot's base as an eef
during Mimic data generation. This enables the use of the same Mimic
annotation and subtask interface to enable lower body movement.
- An optional way to cleanly add custom recorders for Mimic data
generation (useful for when users want to record beyond the action/state
data provided by Isaac Lab's default recorder).
- Interface for enabling a navigation p-controller during Mimic data
generation for robot's with mobile bases.

## 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 read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [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

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