Description

This PR refactors and streamlines the environment reset and observation pipeline across the ManagerBasedEnv and related components. It also introduces consistent normalization support for processed actions and improves configuration clarity in the observation manager.

Summary of changes

• Environment Reset Refactor
  • Introduced _reset() as a unified helper handling both randomized and state-based resets.
  • Replaced duplicated logic in reset() and reset_to() with calls to _reset().
• RSL-RL Wrapper Simplification
  • Added ManagerBasedEnv::_get_observations().
  • Standardized observation retrieval to use _get_observations() in RslRlVecEnvWrapper.
• Observation Manager Improvements
  • Added _EXCLUDED_CFG_KEYS class-level constant to list configuration fields skipped during term parsing.
  • Removed hardcoded lists within _prepare_terms().
• Action Normalization
  • Added normalize_processed_actions() to the ActionTerm class.
  • Implemented normalization in JointAction.
  • Explicitly marked normalization as unsupported for RelativeJointPositionAction.

These changes reduce code duplication, improve consistency between reset flows, and make the action and observation interfaces cleaner and easier to extend.

Type of change

• Refactor (non-breaking change improving internal design)
• New feature (non-breaking change which adds functionality)

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks 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