# Description

Fix paths in `launch.json` to be adjusted to the new repo structure.

Fixes #1976

## Type of change

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

## Checklist

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# Description

The RayCasterCamera test checks that the vertical aperture should match
the value specified in the config. However, the config's vertical
aperture is not set. This PR updates the test to check against the
default computed vertical aperture value instead.

## Type of change

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applicable. -->

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

## Checklist

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# Description

Updates versions in docs for 2.0.2.

## Type of change

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applicable. -->

- This change requires a documentation update

## Checklist

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---------

Co-authored-by: Mayank Mittal <[email protected]>
Co-authored-by: Mayank Mittal <[email protected]>

# Description

There was a lot of code duplication happening inside the `Articulation`
class. This MR takes a step towards untangling some of the confusion
that gets caused by default and non-default data attributes inside the
class.

The MR includes the following changes:

* Removes operations where we set the data to "torch.zeros" and in the
next function assign them the value from PhysX. This made the code
bulkier and complex for no reason.
* Adds docstring clarifications to make it clear what is what. The
default values are now whatever the user configures from their
configuration of the articulation class.
* Updates the `soft_joint_pos_limits` when the user writes the joint pos
limits to the simulator.
* Renames parameters for a consistent nomenclature:
* ``joint_velocity_limits`` → ``joint_vel_limits`` (to match attribute
``joint_vel`` and ``joint_vel_limits``)
* ``joint_limits`` → ``joint_pos_limits`` (to match attribute
``joint_pos`` and ``soft_joint_pos_limits``)
  * ``default_joint_limits`` → ``default_joint_pos_limits``
* ``write_joint_limits_to_sim`` → ``write_joint_position_limit_to_sim``
  * ``joint_friction`` → ``joint_friction_coeff``
  * ``default_joint_friction`` → ``default_joint_friction_coeff``
* ``write_joint_friction_to_sim`` →
``write_joint_friction_coefficient_to_sim``
  * ``fixed_tendon_limit`` → ``fixed_tendon_pos_limits``
  * ``default_fixed_tendon_limit`` → ``default_fixed_tendon_pos_limits``
  * ``set_fixed_tendon_limit`` → ``set_fixed_tendon_position_limit``

Fixes #1583, #1904

## Type of change

- 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

## 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 <[email protected]>
Co-authored-by: James Tigue <[email protected]>

# Description

Sometimes users want to import a USD file which doesn't have any
collider meshes. This MR allows having such USD files in the terrain
importer for visualization purposes.

Additionally, the MR removes the storage of warp and tri-mesh based
meshes inside the class. These are stored into the USD and are read
directly from there whenever needed. Their intended use-case for having
them inside the terrain class is not needed.

## Type of change

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

## 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
- [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: Mayank Mittal <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>

# Description

This PR adds an interactive demo script that runs inference on a trained
H1 rough terrain locomotion policy and allows selection of environments
through clicking on a robot and controlling it with keyboard inputs.

Additionally, a minor hyperparameter is updated in the SKRL training
config for slightly better policy behavior.

## Type of change

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

## Screenshots


![h1_locomotion](https://github.com/user-attachments/assets/2de90aba-1195-4fea-b909-2cbbd67e716c)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
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- [x] I have updated the changelog and the corresponding version in the
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# Description

This pull request refactors the core functionality of
generate_dataset.py into separate helper modules. The goal is to make
the associated Jupyter notebook leaner.

* Move functions in generate_dataset to
isaaclab_mimic/datagen/generation.py
* Add utils.py for utility function for the notebook
* Add dependency for ipywidgets

## 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
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feature works
- [ ] I have updated the changelog and the corresponding version in the
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---------

Signed-off-by: Kelly Guo <[email protected]>
Co-authored-by: Jean-Francois-Lafleche <[email protected]>
Co-authored-by: Peter Du <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>

# Description

Fixes image link in documentation, the previous image was not added to
the repo by accident

## Type of change

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

## 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`
- [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
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- [ ] I have updated the changelog and the corresponding version in the
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# Description

Currently, the actions from the policy are directly applied to the
environment and also often fed back to the policy using the last action
as observation.

Doing this can lead to instability during training since applying a
large action can introduce a negative feedback loop.
More specifically, applying a very large action leads to a large
last_action observations, which often results in a large error in the
critic, which can lead to even larger actions being sampled in the
future.

This PR aims to fix this for RSL-RL library, by clipping the actions to
(large) hard limits before applying them to the environment. This
prohibits the actions from growing continuously and greatly improves
training stability.

Fixes #984, #1732, #1999

## 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`
- [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

This PR adds the implementation to generate Isaac Lab's external project
or internal task.

Just run `./isaaclab.sh --new` or `isaaclab.bat --new` (or `-n`) and let
yourself go!

## 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`
- [ ] 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
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---------

Signed-off-by: Toni-SM <[email protected]>
Signed-off-by: Kelly Guo <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>

# Description

Certain scene-level randomizations (such as randomizing the scale) must
happen before the simulation starts playing. To this end, the MR adds a
new event mode called "prestartup," which gets called right after the
scene design is complete and before the simulation is played.

Since the scene entities cannot be resolved before the simulation starts
playing (as we currently rely on PhysX to provide us with the joint/body
ordering), the MR adds a callback to resolve the scene entity
configurations separately once the simulation plays.

This MR replaces the prior implementation in #1165

## Type of change

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

## Screenshots

If you execute:

```bash
./isaaclab.sh -p scripts/tutorials/03_envs/create_cube_base_env.py --num_envs 32
```

Output:


![image](https://github.com/user-attachments/assets/a4b3a5e7-ff5c-4593-97ce-3b5af19bfde2)

## 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

---------

Signed-off-by: Mayank Mittal <[email protected]>
Co-authored-by: James Smith <[email protected]>
Co-authored-by: Kelly Guo <[email protected]>

# Description

Uses recorder_manager's successful episode count as trial number and
adding it to saved image filenames.
Track successful episodes across environments by adding trial counter to
saved image filenames.

## Type of change

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

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

# Description

A recent change requires the manager based env to have a sim object.
This update fixes the manager tests to initialize a sim variable in the
env class.


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