# Description

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Adds a new parameter to ManagerBasedEnv and DirectRLEnv to give users
better control over rerender on reset behaviour. The new parameter
`num_rerenders_on_reset` allows users to explicitly define the number of
re-render steps after an env reset. When using DLSS, this allows for the
elimination of artifacts/ghosting that are present after a single
rendering step.

Add a deprecation warning for the old parameter `rerender_on_reset`.
Functionality of old parameter is preserved.

Updates the existing visuomotor envs to use new rerendering API together
with DLAA for high quality rendering.

Fixes # (issue)

Non-DLSS denoising is not supported on aarch64. There are also future
plans from the rendering team to disable use of non-DLSS antialiasing
for all platforms in the future. This causes an issue for visuomotor
envs which suffer from image ghosting/artifacts when using DLSS. The new
rerendering API allows for users of visuomotor envs to enable DLSS/DLAA
while preserving image integrity.

## Type of change

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

## Screenshots

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## 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

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