Changelog
---------

0.4.4 (2026-06-08)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed RLinf optional dependency installation on DGX Spark and aarch64 by
  replacing ``decord`` with ``decord2`` in the ``rlinf`` extras.


0.4.3 (2026-06-06)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Fixed RLinf optional dependency installation on DGX Spark and aarch64 by
  replacing ``decord`` with ``decord2`` in the ``rlinf`` extras.


0.4.2 (2026-06-05)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated the TacSL visuotactile sensor demo, documentation, and tests to use
  current PhysX configuration and wrench APIs.


0.4.1 (2026-06-02)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added ``--rl_model_path`` CLI flag to ``play.py`` for evaluating RL-finetuned checkpoints.
  The base model architecture is loaded via ``--model_path`` and the RL-trained weights
  (``full_weights.pt``) are overlaid from the checkpoint directory.

Fixed
^^^^^

* Fixed Newton replicated-scene setup for deformable VBD managers to use
  clone-plan source prims.


0.4.0 (2026-05-20)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :mod:`isaaclab_contrib.deformable` with contributed Newton deformable
  asset and VBD solver support, including
  :class:`~isaaclab_contrib.deformable.DeformableObject`,
  :class:`~isaaclab_contrib.deformable.VBDSolverCfg`,
  :class:`~isaaclab_contrib.deformable.CoupledMJWarpVBDSolverCfg`, and
  :class:`~isaaclab_contrib.deformable.CoupledFeatherstoneVBDSolverCfg` for
  one- and two-way rigid-deformable coupling.
* Added :class:`~isaaclab_contrib.deformable.NewtonModelCfg` for shared Newton
  deformable contact parameters.
* Added Newton deformable coupling documentation with Franka soft-body lift
  tuning guidance for
  :class:`~isaaclab_contrib.deformable.CoupledMJWarpVBDSolverCfg` and
  :class:`~isaaclab_contrib.deformable.NewtonModelCfg`.

Fixed
^^^^^

* Fixed ``[rlinf]`` extra dependency declarations to avoid version conflicts with IsaacLab core
  (torch, transformers, tokenizers). Conflicting packages are now documented as manual ``--no-deps``
  installation steps.


0.3.2 (2026-05-12)
~~~~~~~~~~~~~~~~~~

Fixed
^^^^^

* Removed ``_patched_reset`` monkey-patch in RLinf extension; use
  ``num_rerenders_on_reset`` env config instead.


0.3.1 (2026-05-09)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated TacSL visuotactile sensor camera configuration and examples to use
  :class:`~isaaclab.sensors.CameraCfg` and :class:`~isaaclab.sensors.Camera`
  instead of deprecated tiled-camera aliases.


0.3.0 (2026-02-13)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated multirotor asset and TacSL visuotactile sensor to wrap warp data
  property accesses with ``wp.to_torch()``.


0.2.1 (2026-02-03)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated the multirotor asset to use the new base classes from the isaaclab_physx package.


0.2.0 (2026-01-30)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^

* Updated the multirotor asset to use the new base classes from the isaaclab_physx package.


0.1.0 (2026-01-30)
~~~~~~~~~~~~~~~~~~

Changed
^^^^^^^


* Changed the quaternion ordering to match warp, PhysX, and Newton native XYZW quaternion ordering.


0.0.2 (2026-01-28)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added :mod:`isaaclab_contrib.sensors.tacsl_sensor` module with the TacSL tactile sensor implementation
  from :cite:t:`si2022taxim`.


0.0.1 (2025-12-17)
~~~~~~~~~~~~~~~~~~

Added
^^^^^

* Added initial implementation for multi rotor systems.
