Pascal Roth

[Bug Report] Acceleration and Linear velocities of `Physx` off for small masses and with contact solver

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### Describe the bug The measured accelerations and velocities given by the Physx `RigidBodyAPI` do not seem reasonable in two cases: - when a rigid body with a small mass...

Adds `IMU` sensor

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# Description Add `IMU` sensor with cfg class `IMUCfg` and data class `IMUData`. Compared to the Isaac Sim implementation of the IMU Sensor, this sensor directly accesses the PhysX view...

Adds possibility to initialize cameras with their intrinsic matrix

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# Description This PR adds the possibility of initializing cameras (both Raycaster Cameras and USD Cameras) with the intrinsic matrix instead of using the aperture parameters. The intrinsic matrix is...

# Description The current friction randomization event only selects a single random number in the given range and does not vary them. With the given PR, this is getting fixed,...

Adds github action to close stale github issues

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# Description The workflow will find issues that have been inactive for 30 days and will add the specified comment and "stale" label. Additionally, the workflow will close any previously...

Adds option to change the clipping behavior for all Cameras and unifies the default

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# Description This PR adds an option to define the clipping behavior for depth images generated by `RayCasterCamera` and `Camera`. In addition, it unifies the clipping behavior for the depth...

Adds live plots to managers

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# Description This adds a UI interface to the Managers in the `ManagerBasedEnv` and The `MangerBasedRLEnv`. Additions include: - UI widgets for `LiveLinePlot` and `ImagePlot` - `ManagerLiveVisualizer/Cfg`: Given a `ManagerBase`...

Adds support to spawn different assets in environments and spawn randomizations

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# Description This PR introduces the option to spawn multiple assets in the same environment (e.g. env_0 has a sphere and env_1 a cube). Originally developed by @renezurbruegg It additionally...

# Description Add configurations for stereolabs cameras. In addition, restructures the lab_assets to be more structured by introducing a subdirectory with all the robot configs and one for the sensors....

Reorganizes the structure to drop `omni.isaac` and directly use `isaaclab` as extension name

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# Description Reorganize the extensions to achieve a simpler and easier-to-understand structure. We make use of Kit 106, which drops the requirement to have the extension name as a composition...