v2.3.1

What's Changed

This is a small patch release with a few critical fixes that impacted user workflows.

Key fixes include:

• The behavior of termination logging has changed in the manager-based workflow, where get_done_term now returns the current step value instead of the last episode value.
• Additionally, a breaking change in the URDF importer was introduced in Isaac Sim 5.1, where the merge joints flag is no longer supported. We have now introduced a patch in the importer to return the behavior. Moving forward, we plan to deprecate this flag in favor of preserving asset definitions from URDFs directly without performing additional processing during the import process.

🐛 Bug Fixes

• Updates URDF importer to 2.4.31 to continue support for merge-joints by @kellyguo11 in #4000
• Separates per-step termination and last-episode termination bookkeeping by @ooctipus in #3745
• Uses effort_limit from USD if not specified in actuator cfg by @JuanaDd in #3522
• Fixes type name for tendon properties in from_files config by @KyleM73 in #3941
• Fixes duplicated text in pip installation docs by @shryt in #3969
• Pins python version of pre-commmit.yaml workflow by @hhansen-bdai in #3929

📜 Documentation

• Updates the mimic teleop doc to link to the locomotion policy training by @huihuaNvidia2023 in #4053

Full Changelog: v2.3.0...v2.3.1