… ARL drone task (isaac-sim#3760)

## Description

This PR introduces multirotor and thruster support and adds a
manager-based example/task for the ARL drone. The change contains a new
low-level thruster actuator model, a new `Multirotor` articulation asset
class + configs, new thrust actions, and a manager-based drone task (ARL
drone) with MDP configs and RL agent configs.

### Motivation and context
- Provides a reusable multirotor abstraction and a parameterized
thruster actuator model so we can simulate multirotor vehicles
(quad/hex/other).
- Adds a manager-based ARL drone task and configuration files to enable
repro and training workflows for the ARL drone platform.
- Consolidates drone-specific code and prepares the repo for future
control/sensor improvements.

## Type of change
- New feature (non-breaking addition of new functionality)
- Documentation update (added docs/comments where applicable)

### Files changed (high-level summary)
- New/major files added:
- source/isaaclab/isaaclab/actuators/thruster.py (new thruster actuator
model)
- source/isaaclab/isaaclab/assets/articulation/multirotor.py (new
multirotor articulation)
  - source/isaaclab/isaaclab/assets/articulation/multirotor_cfg.py
  - source/isaaclab/isaaclab/assets/articulation/multirotor_data.py
  - source/isaaclab/isaaclab/envs/mdp/actions/thrust_actions.py
- source/isaaclab_assets/isaaclab_assets/robots/arl_robot_1.py and ARL
drone URDF + asset files as a submodule
- source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_ntnu/* (new
task code, commands, observations, rewards, state-based control configs
and agent configs)
- Modified:
- source/isaaclab/isaaclab/actuators/actuator_cfg.py (register thruster
config)
- source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py (register
thrust actions)
  - small edits to various utils and types, and docs/make.bat
- Total diff (branch vs main when I checked): 33 files changed, ~2225
insertions, 65 deletions

### Dependencies
- No new external top-level dependencies introduced. The branch adds
assets (binary `.zip`) — ensure Git LFS is used if you want large assets
tracked by LFS.
- The new drone task references standard repo-internal packages and
Isaac Sim; no external pip packages required beyond the repo standard.

Checklist (status)
- [x] I have read and understood the contribution guidelines
- [x] I have run the `pre-commit` checks with `./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] 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: Mihir Kulkarni <mihirk284@gmail.com>
Signed-off-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com>
Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com>
Co-authored-by: Octi Zhang <zhengyuz@nvidia.com>
Co-authored-by: Zwoelf12 <rehberg.welf@gmail.com>
Co-authored-by: Mihir Kulkarni <mihirk284@gmail.com>
Co-authored-by: Etor <etorarza@gmail.com>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: Pascal Roth <roth.pascal@outlook.de>
Co-authored-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com>
Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

…ty and position controllers (#3895)

## Description

This PR extends [3760](#3760)
by introducing a navigation tasks for the ARL robot. The PR adds a
confined cluttered environment, adds acceleration, velocity and position
controllers + configs, extends the MDP and RL configs and adds a
Variational Auto Encoder to generate image latents for observations. The
PR depends on the `MultiMeshRayCasterCamera` introduced in PR
[3298](#3298) (currently not
merged in IsaacLab).

## Changes
### Type of Change

- New feature (non-breaking change which adds functionality)
- Documentation update (added docs/comments where applicable)

### Files changed (high-level summary)

- New files added:
-
source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/navigation/*
(new task code and config, obstacle scene code and config)
-
source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/vae_model.pt
- source/isaaclab/isaaclab/controllers/lee_acceleration_control_cfg.py
   - source/isaaclab/isaaclab/controllers/lee_acceleration_control.py
   - source/isaaclab/isaaclab/controllers/lee_velocity_control_cfg.py
   - source/isaaclab/isaaclab/controllers/lee_velocity_control.py
   - source/isaaclab/isaaclab/controllers/lee_position_control_cfg.py
   - ource/isaaclab/isaaclab/controllers/lee_position_control.py
- Modified:
- source/isaaclab_tasks/isaaclab_tasks/manager_based/drone_arl/mdp/*
(added navigation specifics)
- source/isaaclab/isaaclab/envs/mdp/actions/actions_cfg.py (added new
action config)
- source/isaaclab/isaaclab/envs/mdp/actions/thrust_actions.py
(introduced new navigation action handling controller application)
- Total diff (branch vs main, includes also unmerged changes of PR
[3760](#3760) and PR
[3298](#3298)): 74 files
changed, 8029 insertions, 88 deletions
 
## Dependencies

- The new drone task references standard repo-internal packages and
Isaac Sim; no external pip packages required beyond the repo standard.


## 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
- [ ] 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: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com>
Signed-off-by: renezurbruegg <zrene@ethz.ch>
Signed-off-by: Welf Rehberg <65718465+Zwoelf12@users.noreply.github.com>
Co-authored-by: grzemal <grzegorz.malczyk@ntnu.no>
Co-authored-by: Grzegorz Malczyk <44407007+grzemal@users.noreply.github.com>
Co-authored-by: greptile-apps[bot] <165735046+greptile-apps[bot]@users.noreply.github.com>
Co-authored-by: René zurbrügg <zrene@ethz.ch>
Co-authored-by: Pascal Roth <roth.pascal@outlook.de>
Co-authored-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com>